asd-a2-e ... lcec driver?

I have thought of it but i havent the skills yet to build a new driver ..
the drive is
cdn.delta-emea.com/cs/download/file/4641...2_UM_EN_20201209.pdf

Ok is CSP mode only motor encoder ? i am not sure at all now..

when i started the build i planned to use
6.2.1 Position Command in PT Mode
Becurse of the feedback from the scale

Best you make sure that your drive is indeed an Ethercat drive first of all.

If so, I think you can try this small example.
github.com/dbraun1981/hal-cia402/tree/main/example
I wouldn't be surprised if it works.
Some drives need some additional settings, if you are lucky yours will run directly.
Anyway, this little example shows the structure of how to connect an Ethercat servo drive to LinuxCNC.

The encoder position is used internally in the drive for feedback.
The encoder position is feed back to linuxcnc also, see the example hal file.
After you get it going, you should tune the drive's PID parameters,
just like is needed for every servo drive.