Many thanks for the guide @rodw and the people in the forum!
Spend a some hours getting my setup online on the bench and it its now running only with minor issues that were a result from me not knowing what I was doing!And those were fixable with a bit of Forum reading and LLM help.
Could not be happier!
Setup is:
- Beckhoff (EK1100 EtherCAT-Coupler EL1008 8K. Dig. In EL2008 8K. Dig. Out EL2624 4K. Relais Out EL3102 2K. Ana. In /-10V, DIFF EL4022 2Ch. Ana. Out 4-20mA, 12bit) for coolant/fans and also analog communication for the VFD with current feedback
- And a Stepperonline A6 Servo (now that i works, I will order the missing 2 servos)
Spend some time during the setup to take detailed notes and put them together here if someone plans on doing something simmilar: Github