AX58100

I did indeed modify JOINT_N_SCALE to match the drive configuration and the value in the INI file. and it works fine now. The axis moves exactly with the commanded value. Changing the BASE_PERIOD value to 10000 in the firmware also increases the speed without the joint tracking error occurring.
The only drawback is that if one modifies the STEP_SCALE parameter in the drive, the firmware would necessarily have to be recompiled. That is why it seems like a good idea to remove these parameters from the firmware so that they can be modified at any time.

I have now this list of PDOs and one SDO.
Default values are in the PDO/SDO.
I have also changed Digital Input and Digital Output data types. I will provide an example ethercat-conf.xml

 

Hi, Thanks for your further development. I have been away from Ethercat for a long time. In the past I have been experimenting with designing a +-10V PWM for my analog spindle. It works but I have not tested it in practice. I will add this circuit to the Ethercat board. 

Haven't been working on this particular board a lot since I don't use it myself. Been busy with a voltage reader for plasma and IO, for my plasma cutter and that works great.
If you continue to use the STM32F407 you should check that there are free timers available. Probable there are, but I used a lot of timers I remember.
Earlier in the thread there is an attachment with spindle control schematics, maybe you already had a look on that one.
My spindles are all controlled via Modbus/VFD and the 3V analog output was put there for good measure.
There could have been connectors for I2C and SPI to easily add on functionality controlled by the STM32. Maybe something you can think of.