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You have encoder feedback ?

So I took some time and created a generic driver for EL2502 that works for me. I can control frequency and duty cycle with two seperate 16bit integers. This has been tested only in one channel but for second channel, PDOs should be 1603 with the same sub indexes as for the first. 
SDO index 02 is to set control number from SINT16 to UINT16 and index 07 to change operation mode to frequency AND duty cycle.
I hope this helps you.

I found my self in a situation where i could end up getting sucked into the lathe department at work and had an idea to build some kind of test simulation for testing macro programs and testing of programs in general. So i thought it would be neat if i could create some kind of virtual machine for this. i have never tried anything like this in the past so who knows how far i can push the limits with what is able to be done with the tools we have here to work with? Being a mill guy for the most part and looking at lathes with a main and sub spindle with XYZ with a 4th linear axis on the sub spindle for part transfers and phase snyc on both spindles with some of these lathes having a second turret on top of this kinds makes you take a step or two back to get your ducks in a row when your in a situation where there is no one to ask questions because the last guy that knew these machines ends up retiring. So that's basically how this project came to light

what i have managed to do so far is get all 3 of these programs to play nice together open up and render my model and create a 3D orbital view with a zoom feature with a custom viewer so far. i almost gave up on this project quite a few times but got things working this past weekend. i am not just getting into the custom UI with designer which i am just now starting to understand a little bit.
added a screen shot of the model to give you and idea of what is being worked on this is by no means final or even close to being done. i had no idea what i was getting myself into when i started this and thought it would not be to much trouble until i started and that went out the window pretty quickly once i dove into it  

 

The boards looks nice, is it a hobby or are you going to sell them?

I guess you already know this but just in case, here is how you create individual pins for i/o

in many cases autotune broke parameterisation, for example Siemens s120 with their servos working like a charm, but if You use third party supplier of servos, just be sure You are using parameters delivered by Your supplier of servo, if supplier have not parameters for Your driver, don't take it, auto tune mostly broke settings, same manufacturer of drive and servo have to work, but i think it can be price reason (in comparison to Panasonic MINAS A6B for example)