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I am looking for guidance on how to setup the C axis as a second spindle.  This is for a rose engine lathe (otbok.info/index.php?n=Main.RoseEngineLathe) where we need to use:

1. the Spindle to rotate the piece, and
2. the C axis to rotate the rosettes used to impart the design

We turn these quite slowly, certainly less than 10 RPM, and at times speeds approaching 3 or 4 minutes per revolution.  Thusly we are using stepper motors for both axes.

The end goal is to drive the spindle and the C axis simultaneously, but specifying a relationship percentage for their rotational speeds.  For example,  Is there some documentation I can read which describes 

1. How to setup LinuxCNC to treat the C-axis as a secondary spindle, and
2. The G-code I would use.

Apologies if this is already been asked and answered:  I searched the forum and could not find it.

Thanks for your help, I used the output from lcec_configgen and replaced all the BLANK halType entries as S32 or U32, but now I get other errors, am I missing information in the xml file?:


phil@SodickA:~/linuxcnc/configs/sim.axis$ linuxcnc lathe.ini
LINUXCNC - 2.9.3
Machine configuration directory is '/home/phil/linuxcnc/configs/sim.axis'
Machine configuration file is 'lathe.ini'
Starting LinuxCNC...
libnml/buffer/shmem.cc 320: Shared memory buffers toolCmd and toolCmd may conflict. (key=1004(0x3EC))
libnml/buffer/shmem.cc 320: Shared memory buffers toolSts and toolSts may conflict. (key=1005(0x3ED))
libnml/buffer/shmem.cc 320: Shared memory buffers emcError and emcError may conflict. (key=1003(0x3EB))
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(LIB): /usr/share/linuxcnc/hallib/basic_sim.tcl
setup_kins: cmd=loadrt trivkins coordinates=xz
Found file(REL): ./ethercat.hal
LCEC: Invalid appTimePeriod of 0 for master 0 (should be 1000000).
LCEC: Invalid appTimePeriod of 0 for master 0 (should be 1000000).

link (updating variable file): No such file or directory
note: MAXV     max: 3.333 units/sec 200.000 units/min
note: LJOG     max: 3.333 units/sec 200.000 units/min
note: LJOG default: 1.000 units/sec 60.000 units/min
note: jog_order='ZX'
note: jog_invert={'X'}
task: main loop took 0.038776 seconds
task: main loop took 0.019003 seconds
Shutting down and cleaning up LinuxCNC...
task: 32479 cycles, min=0.000007, max=0.038776, avg=0.001059, 2 latency excursions (> 10x expected cycle time of 0.001000s)
Note: Using POSIX realtime
 

I am way to ignorant on linuxcnc to understand what to do next. They are cia402 drives (Lichuan OL3-E57H) as I have two of them I have started with a lathe config as shown on the first video of this thread. How is the ESI file different from what linuxcnc needs? Should I be using output from pdos as my xml file?

phil@SodickA:~/linuxcnc/configs/sim.axis$ ethercat pdos
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
RxPDO 0x1a01 "TxPDO 2"
PDO entry 0x603f:00, 16 bit, "ErrorCode"
PDO entry 0x6041:00, 16 bit, "StatusWord"
PDO entry 0x6064:00, 32 bit, "Position actual value"
PDO entry 0x60fd:00, 32 bit, "Digital inputs"
PDO entry 0x6061:00, 8 bit, "Modes of operation display"
RxPDO 0x1601 "RxPDO 2"
PDO entry 0x6040:00, 16 bit, "ControlWord"
PDO entry 0x6060:00, 8 bit, "Modes of operation"
PDO entry 0x607a:00, 32 bit, "Target position"
PDO entry 0x6081:00, 32 bit, "Profile velocity"
PDO entry 0x6099:01, 32 bit, "Search Switch"
PDO entry 0x6099:02, 32 bit, "Search Zero"
SM1: PhysAddr 0x1100, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1200, DefaultSize 12, ControlRegister 0x64, Enable 1
RxPDO 0x1600 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x607a:00, 32 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
PDO entry 0x6060:00, 8 bit, ""
PDO entry 0x0000:00, 8 bit, "Gap"
SM3: PhysAddr 0x1300, DefaultSize 19, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
PDO entry 0x6061:00, 8 bit, ""
PDO entry 0x0000:00, 8 bit, "Gap"
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
RxPDO 0x1a01 "TxPDO 2"
PDO entry 0x603f:00, 16 bit, "ErrorCode"
PDO entry 0x6041:00, 16 bit, "StatusWord"
PDO entry 0x6064:00, 32 bit, "Position actual value"
PDO entry 0x60fd:00, 32 bit, "Digital inputs"
PDO entry 0x6061:00, 8 bit, "Modes of operation display"
RxPDO 0x1601 "RxPDO 2"
PDO entry 0x6040:00, 16 bit, "ControlWord"
PDO entry 0x6060:00, 8 bit, "Modes of operation"
PDO entry 0x607a:00, 32 bit, "Target position"
PDO entry 0x6081:00, 32 bit, "Profile velocity"
PDO entry 0x6099:01, 32 bit, "Search Switch"
PDO entry 0x6099:02, 32 bit, "Search Zero"
SM1: PhysAddr 0x1100, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1200, DefaultSize 12, ControlRegister 0x64, Enable 1
RxPDO 0x1600 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x607a:00, 32 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
PDO entry 0x6060:00, 8 bit, ""
PDO entry 0x0000:00, 8 bit, "Gap"
SM3: PhysAddr 0x1300, DefaultSize 19, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
PDO entry 0x6061:00, 8 bit, ""
PDO entry 0x0000:00, 8 bit, "Gap"
phil@SodickA:~/linuxcnc/configs/sim.axis$ ethercat sdos
phil@SodickA:~/linuxcnc/configs/sim.axis$ ethercat -v slaves
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000a79
Product code: 0x00002000
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 1139426180 0 0
1 MII up open yes 1 1139427620 1440 720
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1100/128
Supported protocols: CoE
General:
Group: EtherCAT Driver
Image name:
Order number:
Device name: OL3-E57H
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
=== Master 0, Slave 1 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000a79
Product code: 0x00002000
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 720 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII down closed no 0 - - -
1 MII up open yes - 54668620 2396782160 0
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1100/128
Supported protocols: CoE
General:
Group: EtherCAT Driver
Image name:
Order number:
Device name: OL3-E57H
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
phil@SodickA:~/linuxcnc/configs/sim.axis$ lcec_configgen
<masters>
<master idx="0">
<slave idx="0" type="generic" vid="0x00000a79" pid="0x00002000" name="D1">
<!--OL3-E57H-->
<syncManager idx="0" dir="out">
<pdo idx="1a01">
<!--TxPDO 2-->
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="BLANK"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="statusword" halType="BLANK"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual-value" halType="BLANK"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digital-inputs" halType="BLANK"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modes-of-operation-display" halType="BLANK"/>
</pdo>
<pdo idx="1601">
<!--RxPDO 2-->
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="controlword" halType="BLANK"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modes-of-operation" halType="BLANK"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="BLANK"/>
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="BLANK"/>
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="search-switch" halType="BLANK"/>
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="search-zero" halType="BLANK"/>
</pdo>
</syncManager>
<syncManager idx="1" dir="out"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="pin-6040-00" halType="BLANK"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="pin-607a-00" halType="BLANK"/>
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="pin-60ff-00" halType="BLANK"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="pin-6060-00" halType="BLANK"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="pin-6041-00" halType="BLANK"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pin-6064-00" halType="BLANK"/>
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="pin-606c-00" halType="BLANK"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="pin-6061-00" halType="BLANK"/>
</pdo>
</syncManager>
</slave>
<slave idx="1" type="generic" vid="0x00000a79" pid="0x00002000" name="D2">
<!--OL3-E57H-->
<syncManager idx="0" dir="out">
<pdo idx="1a01">
<!--TxPDO 2-->
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="BLANK"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="statusword" halType="BLANK"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual-value" halType="BLANK"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digital-inputs" halType="BLANK"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modes-of-operation-display" halType="BLANK"/>
</pdo>
<pdo idx="1601">
<!--RxPDO 2-->
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="controlword" halType="BLANK"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modes-of-operation" halType="BLANK"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="BLANK"/>
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="BLANK"/>
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="search-switch" halType="BLANK"/>
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="search-zero" halType="BLANK"/>
</pdo>
</syncManager>
<syncManager idx="1" dir="out"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="pin-6040-00" halType="BLANK"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="pin-607a-00" halType="BLANK"/>
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="pin-60ff-00" halType="BLANK"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="pin-6060-00" halType="BLANK"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="pin-6041-00" halType="BLANK"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pin-6064-00" halType="BLANK"/>
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="pin-606c-00" halType="BLANK"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="pin-6061-00" halType="BLANK"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>

That xml file is an ESI file. It will not work. See my reply above.
Run "lcec_configgen" and put the output into ethercat-conf.xml.

Can you post your hal file?
 

please see attached files

It is suport step/dir sir?? Because original stmbl are suported right, if posible open the step/dir interface mate, so we can used for mach3 or grbl, thank u somuch.