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Theese berger lahr drives are known for having faults because of the old caps. So I already have new ones at hand. Tantals for example will be changed to multilayer ceramics, but that is another story.

Yes, suprisingly theese machines were sold as engraving machines. Really beefy engraving lol.

But of cause I will install a spindle with more power. Nothing fancy for this project. Just a er25 4kW spindle and an old vacoon vfd laying around.

The PDO entries of the EtherCAT master are 128 in number. Any error will occur if the number exceeds this limit. For the same type of enumerated points, you can use the abbreviated form for writing. For example：<pdoEntry idx="6000" subIdx="01" bitLen="32" halPin="bit-in" halType="bit"/> Here, an input point with a sub-index ranging from 1 to 32 is declared.