Category: EtherCAT
Maybe start with a fresh install of the latest debian "trixie". Linuxcnc is available as an apt package directly, just sudo apt install linuxcnc-uspace and so on
forum.linuxcnc.org/9-installing-linuxcnc...ade-install-to-2-9-4
Ethercat needs to be installed after that, follow the guides here first
forum.linuxcnc.org/ethercat/53785-instal...thercat-repositories and then
forum.linuxcnc.org/ethercat/45336-etherc...-how-to-step-by-step
Ethercat server consists of two kernel modules, run in kernel space that linuxcnc communicates with.
Linuxcnc uses traditional HAL files for configuration. Translation between HAL pins and EtherCAT PDOs is provided by the linuxcnc lcec module which requires a configuration file "ethercat-config.xml". Often a source of questions, the easiest way to generate a good starting point is the Linux command "lcec_configgen". Reference for linuxcnc-ethercat (lcec) can be found
github.com/linuxcnc-ethercat/linuxcnc-ethercat but it seems not many people read it.
Your servo drives seems to use the common cia402 drive profile. A must read is the example config found at
github.com/dbraun1981/hal-cia402.
There is no easy (well...) way to configure an Ethercat machine. Typically you start with a sample configuration from the LinuxCNC simulator or generate a configuration using either stepconf or pncconf and then replace the motion and IO pins with the Ethercat motion and IO pins from ethercat-conf.xml.
Regarding the encoder resolution, there is a scaling number one need to provide, counts/mm or counts/inch, check the cia402 example hal file. After that, the cia402 module reports position directly in mm or inch in the pos-fb pin.
