How ethercat contral a servo device spindle?

Has someone config a spindle using servo device?
I had debugged the XY_AXIS servo, Now them can correct used.
But i can't find some document or HAL or ethercat-config for spindle-axis (servo device + ethercat), someone can help me?

for picture

Hi,

I have a xyz machine with a single spindle. The machine uses Beckhoff AX5000 drives (no cia402).
@db1981 provided this solution using stepgen in the halfile:

loadrt stepgen step_type=0 ctrl_type=v
...
addf stepgen.capture-position servo-thread
addf stepgen.make-pulses      servo-thread
addf stepgen.update-freq      servo-thread
...
net spindle-enable spindle.0.on => lcec.0.17_AX5203.ch0.srv-enable => stepgen.0.enable
setp stepgen.0.position-scale 1 //adjust to your needs....
net spindle-speed-cmd spindle.0.speed-cmd-rps => stepgen.0.velocity-cmd
net spindle-freq stepgen.0.position-fb => lcec.0.17_AX5203.ch0.srv-pos-cmd

The common M3/M4/M5 commands work, but I'm struggling setting up spindle orientation/M19.
I've not figured out which pins have to be connected to get this up an running. Attached all "my" available pins....

Hey sorry for off topic, but i need to ask since you also using Rtelligent drivers.

Have you had any problems with configuring those? I always get this error in dmesg. when start linuxcnc

Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 8399.083149] EtherCAT ERROR 0-0: AL status message 0x0025: "Invalid Output Mapping".

Hi, my project has been successful, and I will open source it on GitHub soon. I'm not sure if it will be helpful to you.

I have found problem, it was a cable leads incorrectly connected to driver. But still i would like to see your project on GitHub, thnx