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Hello
I ran a test to verify the problem I have,
that is: on the A-AXIS output (join 3) there is no signal

I enabled all the axes in the .ini .hal file inverted in the nvem-rt1052.txt file, the joint 3 pins (A-AXIS) with the joint 4 pins (B-AXIS)

it happens that joint 3 and joint 4 are inverted and on the B-AXIS output I find the joint 3 signals working, while on the A-AXIS output the join 4 signals do not work,
on the C_AXIS joint 5 output the signals work

it seems that the A-AXIS output on the NVEM card is physically interrupted, is it possible?


       
 

So i must attach encoder of encoder disk to spindle shaft because all other places
i can mount the encoder are not 1:1 gear ratio with spindle shaft.

i was able to bench test the image with the ethercat master installed from the repositories and it works. The only thing i found peculiar was that when jogging with the keyboard i could notice some random jitter in the drive. This did not happen with the amd64 cpu i was using before. I suspect this could just be an issue with the keyboard input on the pi though as that jitter is not present with commands from the MDI