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Oh my, totally missed that one. Thanks for reporting back.
Actually, I think this may be all you need:

Cant do this anymore bye all wrote:

I’ve only access to Xilinx and Lattice stuff ATM.

Yeah standard .v clocking stuff. Just need to change your pinouts (pin mapping in the *cst, in it current format). 
That'd be awesome man. Let us know what you come up with when/if you can.

Have a good one [beer_cheers_emoji_here!]  

When running within the context of Linuxcnc in a basic setup 21 byte packets are being sent via UDP back and forth at the servo thread speed of 1ms, now that 21 bytes doesn’t include the source & dest port and addresses.
If you have a look at the figures on the wiz net wiki you’ll see as packet size drops so does the overall throughput.
So it would be interesting to see how it would go sending smaller packets back and forth at 1ms intervals, as this would being replicating what the situation is when running Linuxcnc.
I will try and have a look but I’ve only access to Xilinx and Lattice stuff ATM. Tho I do have a few W5500 modules in 2 different formats.

Ah, yeah, the EL6751. I keep meaning to get around to trying to use mine for something, but it looks like more work than I really want right now .

The problem with mapping anything more complex than ints or floats is that LinuxCNC doesn't really have a good type to hold them, so there's no good way to create a pin for them. Even if we had an array of ints, there's no array type in LinuxCNC. OTOH, a fixed-size array is pretty trivial to map to 8 individual ints.

I'd love to see a working EL6751 config for *anything*; IIRC people have claimed that they've got it working once or twice, but I don't think we do a very good job at it.

If we *really* wanted to do a good job with the EL6751, we'd probably want to refactor LCEC to create a generic CANopen layer (PDOs, SDOs, etc), and then tie that to a lower-level EtherCAT layer plus a lower-level CANopen layer. Then the EL6751 could be a CoE EtherCAT device that exports a CANopen interface that we could run CANopen devices on top of.

That'd let us use generic CAN devices, and maybe even some RS485 devices, in addition to the EL6751 for talking to CANopen CiA 402 devices and so forth.

Except we don't actually *want* to use most CAN CiA 402 devices, because they don't support CSP/CSV modes, because CAN isn't fast enough. Mostly.

Anyway, it'd be a lot of work, and I'm not sure that there's a real payoff.

Thank you Aciera!

I just changed the settings to these random values:

Now it works as intended and my absolute position persists through the homing process (not set to zero anymore). But no idea why...

[edit]

Alright I have found it. It was a simple spelling mistake in the HOME_ABSOLUTE_ENCODER = 2 line. This led to the setting not beeing applied. Nothing to do with the other lines. In fact I can delete anything about homing besides the absolute encoder setting = 2. Feel really stupid now

You had me worried. Thought you had a go at it and already binned hope! Wish I'd be able to give it a TRUE Lcnc perf stress-test myself but can't - dependent on meister on that side of things. If you needed 'delays', those spi and w5500 sync'd state machines should deliver that magic plenty

Let's try again when the weather is better... f n inferno hot here lool

The situation is as follows: There is an option to set SDO values at the start of the EtherCAT module. Is it possible to monitor SDO registers for reading? For example, there is a C2000 drive and an EtherCAT manual. Let's say you need to monitor register 3026:01, which is the input status, or DC voltage 3021:06. Ideally, these registers should be in the PDO by the manufacturer, but for some reason, they are not. Therefore, simply writing them into the XML in the PDO section doesn't work (it just doesn't work). In TwinCAT, it is possible to track these states (and accordingly, they are not PDOs) (this happens not as fast as with PDO variables, but this possibility exists). It would also be nice to change these as well, for example, changing the value of register 3026:41, which is for output. For now, I can simply set it in the EtherCAT terminal with the commandbut this is still a workaround. Perhaps it is necessary to work more with the pure EtherCAT library and refine this function.
Does anyone know how to solve this?
filecenter.deltaww.com/Products/download...1_OM_EN_20230221.pdf