AX58100

Yes. yes. yes. hmmm.
Yeah I think you are right, those JOINT_1_SCALE should be brought out as a pdos, not be a firmware constant.
Should of course not be a constant haha. My mistake there. From development and testing. Set them to what you found worked.
The SCALE and also MAX_ACCELERATION variables should be brought of from the firmware to hal or as a sdos in ethercat-config.xml.
I need to work on that, haven't been able to make writable sdos yet. Readable is ok. I think it is some minor thing, but takes time to find it.
Can also be pdos.
So if you can make the changes you need then I will come back on this topic in a week or two. To see where you are and what changes you have made, and update the firmware on github with for example the scale and  max_acceleration parameters.
 

Maybe it is time to do some improvements and clean up. Like making PDOs of the scale and max-acceleration.
I wonder how much you have done to the code?
I can bring in those changes in the code, and push an update to github.

I did indeed modify JOINT_N_SCALE to match the drive configuration and the value in the INI file. and it works fine now. The axis moves exactly with the commanded value. Changing the BASE_PERIOD value to 10000 in the firmware also increases the speed without the joint tracking error occurring.
The only drawback is that if one modifies the STEP_SCALE parameter in the drive, the firmware would necessarily have to be recompiled. That is why it seems like a good idea to remove these parameters from the firmware so that they can be modified at any time.

I have now this list of PDOs and one SDO.
Default values are in the PDO/SDO.
I have also changed Digital Input and Digital Output data types. I will provide an example ethercat-conf.xml

 

Hi, Thanks for your further development. I have been away from Ethercat for a long time. In the past I have been experimenting with designing a +-10V PWM for my analog spindle. It works but I have not tested it in practice. I will add this circuit to the Ethercat board. 

Haven't been working on this particular board a lot since I don't use it myself. Been busy with a voltage reader for plasma and IO, for my plasma cutter and that works great.
If you continue to use the STM32F407 you should check that there are free timers available. Probable there are, but I used a lot of timers I remember.
Earlier in the thread there is an attachment with spindle control schematics, maybe you already had a look on that one.
My spindles are all controlled via Modbus/VFD and the 3V analog output was put there for good measure.
There could have been connectors for I2C and SPI to easily add on functionality controlled by the STM32. Maybe something you can think of.