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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