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Thanks for the answer!
I have encountered another strange problem.
I measure 3.8V power supply on the encoder connectors instead of 5V. I think there is a problem with the analog output. If I enter the maximum speed CW, the output voltage is 10V. But if I enter the maximum speed CCW, I get about 6V. The same problem is with the axes. In one direction, the maximum feed rate is not a problem, but in the other I can't get past half the maximum. On the 5i25T, W1 and W3 are set to Up On the 7i77, W5 is left hand position. 5V is supplied to the 7i77 card only via the DB25 cable. Is there a mistake in the jumper settings?

Hello, 

First I'm sorry if this kind of question has already been asked but couldn't find the answer. 

I have some common beckhoff modules such as 1008 
They are supported by Linuxcnc Ethercat but I would like to understand how to build the config xml file. I understood the first slave part then the sync but I'm struggling with the PDO part. How to gather and understand the requested data? 

Thank you in advance 

I have a feeling you are using the "autotransformer" name wrong, that is the name for the round transformers with a big rotating knob at the top that can adjust the output voltage in a wide range.
Nothing wrong with that, but autotransformers are much more expensive and finding a 3 phase one will be a stretch. 3 of single phase ones should also do just fine.
- some ideas:
-3 of normal transformers, at least 3KW each, should be easy to find torroidal ones at any output voltage and are quite cheap. If you can choose, get the 400/110V ones, saves quite a bit on mains cabling as the current draw is smaller.
-a big used 3 phase transformer, usually with multiple input voltages 380/400/420/460/480V, at 10 to 15KW easy to find from used machines, usually not cheap at all, usually 200 to 220V outputs.
This should still be usable for 110V AC as you can wire inputs with common neutral for 3x220V and get out roughly from 100-125V depending on what input windings you use.
-
If you go for the used version, do try to find matching rectifier, at those current requirements the rectifier gets pricey.

Active offsets, maybe?

i don't have the electrical cabinet with the robot
i'd like to start with a second-hand 400 to 240V high-power three-phase autotransformer because it's “quite easy to find”. i'd like to share the phases and neutral to supply the drivers with 110V single-phase power.
i have 3xbig motor and 3xsmall motor so 1 phase for 1 big and 1 small.
after some research i managed to find some data on robot or control electrical power.
robot KR16(more recent than my robot but quite similar) = Installed motor capacity 8.8 KW
cabinet : Rated power input depending on the drive class: 7.3 -- 13.5 kVA.
I don't know which transformer power I should look for 12 KVA minimum? 400V/18.1A - 230V/31.4A

assuming that large motors will be at a maximum of 50%-60% of their maxspeed (110V instead of 180V)

KR16 powerKW
 

KRC2 power KW