AX58100

Not sure exactly how that works. TIM2 and TIM5 share things, at least encoder pins, so only one encoder.
Maybe there can be TIM2 on one pin and TIM5 on the other for other purposes, not sure.
You can always do some surgery. Prototype in free-run mode and you don't need sync0 and sync1 which are
on TIM2 CH1 and CH2, so you can free them up and use them for encoder input for the 32-bit encoder.
Solder on tiny wires and melting glue. Has happened before.

understood, thank you.
I will look for tutorials as i'm beginner with this technology

Hello @Hakan
I received the board and it worked smoothly with the firmware inside.
However I have a lot of issue to edit, mainly I think due to chinese chars that are not converted correctly.

The TIM2 CH1 and CH2 are quite easily accessible. Do you want to help/assist me in order to build the new firmware ?

I think i can take you firmware and edit it, I feel almost capable, however regarding the eeprom etc I'm totally lost.

Maybe we can try step by step?

Sure, let's do that.

Best to start your own thread I guess.
I propose you do it in two steps
1. get encoder working
2. ethercat.
 

Great thank you for your support.
How do you debug in your platformio project?

I will create my usbject once I made some progress
Meanwhile I remove pin SYNC0 and SYNC1 but its not working anymore with the original project, i will need to adapt with yours 

"Run" top menu option, Start debugging. There will come a green play button, step button and some more at some point.
Click left of the line number to add breakpoint. Right-click variable and add to watchlist. And much more