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amazing it works thank you, just need to change it so its not a minus sign before the reading

I don't have a Mesa CT2 file created yet - I'm still hoping to find a "pure" way to create it via pnconfig in one step - without inserting lines.
I have a small lathe that I would like to use in 3 configurations - as a lathe, as a milling machine (I have a milling attachment for the lathe) and as a rotary table, when the additional spindle (which will be classically driven via an inverter) will be on the support.
my machine:
www.youtube.com/channel/UC_zOVvs96VKX6R_DIO5KyJg

There is a tutorial to get a working config for the EK1100. Maybe that is something to start with:
github.com/pklopping/linuxcnc-ethercat-b...asic_digital_outputs

For the drives there is this example config:
github.com/dbraun1981/hal-cia402