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@Leuo_

Follow either of these two links and in the first post go down to PART 6 - LET’S SEE ETHERCAT WORK IN THE REAL WORLD .  There are detailed instructions on how to do the external Stop button and you should see how to do a start button also. 

Ethercat build from source - full instructions - LinuxCNC

Ethercat build from source instructions - Updated for 2024 - LinuxCNC

Hope it helps,
Robert

Thanks for your answer.
But Linuxcnc will coming up with an error:

 
 

hey scott, ive been playing with it for the last 2 weeks. I dont have much to show, but i think the environment switching is working kinda. im testing with a nucleoh743, from the debug it seems to be working but serial is messed, it seems i dont know how to do a define or something,

github.com/cakeslob/Remora-STM32H7xx-PIO...43/Src/main.cpp#L116

im not an expert but i think thats exactly what its supposed to look like (rpm changing as diameter changes). assuming those portions that are the straight lines are in between jog moves. I didnt see (or hear) any weird spindle speed drop outs like before thought. i am assuming you figured out the issue?

Thanks Tommy

I think this is exactly what I was looking for.