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Hi, I have finished the lathe with ethercat drivers. I'm posting my configuration. I am using a revolver head with asynchronous motor with carousel control. mesa reads the encoder and buttons. the machine is cast in steel.

youtube.com/shorts/veTGtAU7UrY
youtube.com/shorts/fbEU6qiVqMk
disk.yandex.ru/d/rNy3ErpcVfzkxw

I am currently working on a machine with two X axes 1500x3000mm, what should I do so that with the incremental encoder it can align the bridge if it moves a little in reset mode.
mesa 7i95t
Greetings

  Good afternoon, I think I managed to do what you asked me, but without results, still with the same error. Could it be my pyocd installation? I've tried with other versions of Debian, but always the same problem.

Best thing to do is think of an RPi running Linuxcnc as the ECU in an early 2000's car or bike, as long as it works there's no real need to upgrade.
I'd like to be able to count the amount of times I upgraded the ECU on my 1999 Toyota Echo on one hand, but I have all the fingers on each hand