Stepper motor not running (Linux CNC + EtherCat + RPi 4)

db1981 wrote:

one test could be to slow down the servo thread, maybe the drive has limitations.

try 4000000 (4ms) for servo-thread and apptimeperiod like it is in the twincat setup.
 

You mean SERVO_PERIOD = 4000000 ?

Sorry Now I understand apptimeperiod in conf.xml

yes,

ini file : SERVO_PERIOD = 4000000

and

ethercat_conf : apptimeperiod = 4000000

they have to be equal.

It doesn't work even if you change the values to 4000000

Can you recommend a tutorial on how to write a hal component to drive motors?