Optical QC control: QiTech Control library and shop

User, 19 Oct 2026: check github.com/qitechgmbh/control and
shop.qitech.de/collections/ethercat.

- QiTech Control (LGPL-3.0, Rust on an EtherCrab fork, NixOS, runs
  QiTech's own machines): plan now uses its EtherCAT library qitech_lib,
  pinned, as the layer under our station service; not the full Electron
  app. It has DC SYNC0, SDO/PDO handling, EK1100/EL2809/EL3021/EL3024
  drivers and a CiA402 MINAS A6 servo driver to copy for the A6-EC.
  Drivers to write: EK1101, EL1809, EL3152, EL5101, A6-EC (upstream).
  Kernel: start from QiTech's tested settings (6.18, preempt=full,
  isolcpus 2,3); 6.12 PREEMPT_RT stays the fallback for IgH.
- QiTech shop (new Beckhoff stock from an insolvency, ships worldwide):
  EK1101 EUR 85.13, EL1809 EUR 16.53, EL2809 EUR 41.03, EL9011 EUR 1.76
  replace the geizhals offers, EUR 207.57 less. TwinSAFE and Beckhoff
  STO servo terminals noted, not taken.
- EtherCAT parts EUR 1,684 to 1,897 + 2 servo kits (THB 72k to 80k);
  bench parts about THB 56k; spare coupler/DI/DO now stocked.
- BOM total USD 16,671 to 32,681 (THB 0.55M to 1.08M).

docs/equipment/inline-optical-qc.md

@@ -326,17 +326,22 @@ prices, safety circuit, bench test and build order, is in
   EtherCAT master and runs the station sequence, which we write
   ourselves; there is no PLC.
 - **Master software,** open source either way:
-  - **EtherCrab:** a pure Rust master (MIT or Apache-2.0) with
-    distributed clocks, CoE and basic CiA402 drive support
-    ([GitHub](https://github.com/ethercrab-rs/ethercrab)). It fits the Rust
-    stack of the factory application, and is the first choice.
+  - **QiTech's EtherCAT library on EtherCrab:**
+    [qitech_lib](https://github.com/qitechgmbh/qitech_lib) (LGPL-3.0),
+    the layer under [QiTech Control](https://github.com/qitechgmbh/control),
+    which runs QiTech's own extrusion and winding machines on NixOS. It
+    brings distributed clocks, SDO and PDO handling, Beckhoff drivers and
+    a CiA402 servo driver to copy for the A6-EC; EtherCrab
+    ([GitHub](https://github.com/ethercrab-rs/ethercrab), MIT or
+    Apache-2.0) is the pure Rust master underneath. It fits the Rust stack
+    of the factory application, and is the first choice.
   - **IgH EtherCAT Master:** the mature fallback (GPL-2.0, its library
     LGPL-2.1), packaged in nixpkgs
     ([MyNixOS](https://mynixos.com/nixpkgs/package/linuxKernel.packages.linux_6_18.ethercat)).
     Its native igc driver for the i226 is listed for the 6.12 kernel, so
     with IgH, pin the 6.12 LTS kernel
     ([IgH device drivers](https://docs.etherlab.org/ethercat/1.6/doxygen/devicedrivers.html)).
-- **On the bus, in one line:** an EK1100 coupler with EL1809 (16
+- **On the bus, in one line:** an EK1101 coupler with EL1809 (16
   inputs: photoelectric sensors, cylinder switches, door and e-stop
   status), EL2809 (16 outputs: valves, stack light), EL3152 (two 4 to
   20 mA inputs for the warp lasers) and EL5101 (spindle encoder), then
@@ -383,8 +388,8 @@ By group, per station:
 | Handling | 1.9k to 4.5k | guided lift cylinder, 100 W EtherCAT spindle servo, spindle head with mandrel, rodless cylinder, pneumatics |
 | Vision | 7.7k to 12.5k | 2 line-scans, 2 colour cameras, lenses, 2 coaxial, 4 dark-field and 2 backlights, 2 ring lights, controllers |
 | Sensors | 1.5k to 4.6k | 2 laser distance sensors, presence and stop sensors, cylinder switches, spindle encoder |
-| Control | 4.4k to 8.1k | EtherCAT controller and I/O, edge PC with GPU, HMI, safety, cabinet and wiring |
-| **Total** | **17k to 33k (0.56M to 1.09M THB)** | thermal camera (USD 2.1k to 3.0k) not included |
+| Control | 4.2k to 7.7k | EtherCAT controller and I/O, edge PC with GPU, HMI, safety, cabinet and wiring |
+| **Total** | **17k to 33k (0.55M to 1.08M THB)** | thermal camera (USD 2.1k to 3.0k) not included |
 
 **Open points for the machine builder.**
 
@@ -512,9 +517,9 @@ simulated.
 
 | Item | Estimate |
 |---|---|
-| Hardware per station, from the [bill of materials](inline-qc-station/inline-qc-station-bom.csv) | USD 17k to 33k (0.56M to 1.09M THB) |
+| Hardware per station, from the [bill of materials](inline-qc-station/inline-qc-station-bom.csv) | USD 17k to 33k (0.55M to 1.08M THB) |
 | First station: frame build and machined parts, lighting trials, software, training data | 2 to 4 person-months, USD 15k to 40k (our own team with a local machine builder) |
-| Launch plant: one station for both presses, after cooling | the hardware above, USD 17k to 33k, plus the first-station work (about USD 32k to 73k in all, 1.1M to 2.4M THB) |
+| Launch plant: one station for both presses, after cooling | the hardware above, USD 17k to 33k, plus the first-station work (about USD 32k to 73k in all, 1.0M to 2.4M THB) |
 
 All three figures are estimates; the bill of materials names a source for each priced line. They fit inside the existing metrology
 launch-tier line, USD 170k to 460k for XRF, inline vision and the audio
@@ -547,11 +552,12 @@ vision share is not yet confirmed.
 4. **Warp sensors.** Choose between two point lasers and a line profiler
    once the trials show whether a thickness map is worth the extra cost.
 5. **EtherCAT bench.** Before the frame is built, run one A6-EC kit, the
-   EK1100 with its terminals and the spindle encoder from the mini PC
-   with EtherCrab: eight tests and pass marks are in the
+   EK1101 with its terminals and the spindle encoder from the mini PC
+   with qitech_lib on EtherCrab: eight tests and pass marks are in the
    [control plan](inline-qc-control-plan.md#7-bench-test-before-the-frame-is-built)
-   (about THB 64,000 of parts, all reused in the station). If EtherCrab
-   falls short on the drive, repeat the test with the IgH master.
+   (about THB 56,000 of parts, all reused in the station). If the
+   EtherCrab stack falls short on the drive, repeat the test with the
+   IgH master.
 6. **Acceptance test.** Write it before ordering. It should cover the
    detection rate per defect class on the trial set, the false-reject
    rate on good records (black and specials apart), and every result

docs/equipment/inline-qc-control-plan.md

@@ -3,8 +3,10 @@
 How the [inline optical QC station](inline-optical-qc.md) is controlled,
 wired, priced, built and tested. Decided in October 2026: EtherCAT, no
 PLC, and the 100 W StepperOnline servo kit on both axes. Prices for the
-EtherCAT parts were checked on [geizhals.de](https://geizhals.de/) on
-19 October 2026. The station hardware itself (frame, cameras, lights,
+EtherCAT parts were checked on [geizhals.de](https://geizhals.de/) and in
+the [QiTech shop](https://shop.qitech.de/collections/ethercat) on
+19 October 2026; the station software builds on QiTech's open-source
+EtherCAT library (section 5). The station hardware itself (frame, cameras, lights,
 lasers) is in the station doc and its
 [bill of materials](inline-qc-station/inline-qc-station-bom.csv).
 
@@ -16,7 +18,7 @@ lasers) is in the station doc and its
 | Spindle drive | StepperOnline A6-EC100L2A1-M17 (100 W, A6-200EC drive), cyclic synchronous position, 1:6 timing belt | torque need about 0.02 N·m at the motor against 0.32 N·m rated; the belt brings the load inertia to about 28 times the rotor (station doc) |
 | Conveyor drive | the same kit, cyclic synchronous velocity | one spare covers both axes |
 | Controller | fanless Intel N100 mini PC with Intel i226-V ports, NixOS with a real-time kernel | open source stack, declared in the plant's clan like every other machine |
-| Master software | EtherCrab (Rust, MIT or Apache-2.0); IgH EtherCAT Master as the fallback | EtherCrab fits the Rust factory application; IgH is older and proven |
+| Master software | QiTech's EtherCAT library (qitech_lib, LGPL-3.0) on EtherCrab; IgH EtherCAT Master as the fallback | Rust like the factory application, already running QiTech's own production machines, with distributed clocks and a servo driver to copy; IgH is older and proven |
 | Camera clock | separate RS-422 encoder on the spindle shaft | the A6-EC drive has no divided encoder output |
 | Safety | hardwired: safety relay, two contactors in the drive supply | the 100 W kit has no STO; the 400 W STO kit's manual names no safety rating (station doc) |
 
@@ -25,7 +27,7 @@ lasers) is in the station doc and its
 ```
 Station controller (N100, NixOS, real-time kernel)
  |
- |-- port 1 (i226-V) == EtherCAT ==> EK1100 coupler
+ |-- port 1 (i226-V) == EtherCAT ==> EK1101 coupler
  |                                    |-- EL1809  16 digital inputs
  |                                    |-- EL2809  16 digital outputs
  |                                    |-- EL3152  2 analog inputs (warp lasers, 4 to 20 mA)
@@ -58,7 +60,7 @@ Spindle encoder (RS-422, 5 V from the EL5101)
   whether the EL5101 input already is.
 - **Port 2 is ordinary Ethernet** to the edge PC and the plant's OT
   network (VLAN as in [digital factory](../digital-factory.md)). The
-  EtherCAT port is a point-to-point cable to the EK1100, never a switch.
+  EtherCAT port is a point-to-point cable to the EK1101, never a switch.
 
 ## 3. Signals
 
@@ -107,20 +109,21 @@ both drives can share one mapping and differ only in the mode (8 for
 CSP, 9 for CSV). The drive runs only in DC sync mode; its SYNC0 period
 range depends on the mode, so the 1 ms cycle is the first bench check.
 
-## 4. Prices from geizhals.de
+## 4. Prices from geizhals.de and the QiTech shop
 
-Lowest listed price on 19 October 2026, in EUR including 19% German VAT;
-THB at 38.115 per EUR.
+Lowest price on 19 October 2026, in EUR including 19% German VAT; THB at
+38.115 per EUR. Four terminals come from the QiTech shop (section 5),
+the rest from the lowest geizhals.de offer.
 
 | Part | Qty | Example | EUR | THB | Source |
 |---|---|---|---|---|---|
 | Station controller | 1 | ANDAQI RS55 (6 × i226-V) / MNBOXCONET P2-N100 (2 × i226-V, fanless) | 393.99 to 455.99 | 15,017 to 17,380 | [geizhals](https://geizhals.de/mini-pc-barebone-netzwerk-pc-intel-n100-a2926989.html) |
-| EtherCAT coupler | 1 | Beckhoff EK1100 | 150.75 | 5,746 | [geizhals](https://geizhals.de/144468496) |
-| 16 digital inputs | 1 | Beckhoff EL1809 | 93.97 | 3,582 | [geizhals](https://geizhals.de/1371087148) |
-| 16 digital outputs | 1 | Beckhoff EL2809 | 102.97 | 3,925 | [geizhals](https://geizhals.de/1371087504) |
+| EtherCAT coupler | 1 | Beckhoff EK1101 (EK1100 with an ID switch) | 85.13 | 3,245 | [QiTech shop](https://shop.qitech.de/products/beckhoff-ek1101), 148 in stock |
+| 16 digital inputs | 1 | Beckhoff EL1809 | 16.53 | 630 | [QiTech shop](https://shop.qitech.de/products/beckhoff-el1809), 157 in stock |
+| 16 digital outputs | 1 | Beckhoff EL2809 | 41.03 | 1,564 | [QiTech shop](https://shop.qitech.de/products/beckhoff-el2809), 104 in stock |
 | 2 analog inputs, 4 to 20 mA | 1 | Beckhoff EL3152 | 208.90 | 7,962 | [geizhals](https://geizhals.de/185886294) |
 | Encoder interface, RS-422 | 1 | Beckhoff EL5101 | 291.04 | 11,093 | [geizhals](https://geizhals.de/2974477757) |
-| End cap | 1 | Beckhoff EL9011 | 4.33 | 165 | [geizhals](https://geizhals.de/455904583) |
+| End cap | 1 | Beckhoff EL9011 | 1.76 | 67 | [QiTech shop](https://shop.qitech.de/products/beckhoff-el9011), 131 in stock |
 | Spindle encoder | 1 | E6B2-CWZ1X 2000 P/R (marketplace) / GHH60 2500 P/R line driver | 45.52 to 187.83 | 1,735 to 7,159 | [geizhals](https://geizhals.de/6925000400) |
 | Safety relay | 1 | Pilz PNOZ s3 750103 | 148.38 | 5,656 | [geizhals](https://geizhals.de/pilz-pnoz-s3-24vdc-2-n-o-750103-a3204143.html) |
 | Contactor, 24 V DC coil | 2 | Siemens 3RT2015 | 27.95 each | 2,131 | [geizhals](https://geizhals.de/siemens-leistungsschuetz-3rt2015-1bb41-a3269085.html) |
@@ -128,7 +131,7 @@ THB at 38.115 per EUR.
 | HMI touch monitor 10.1 inch | 1 | iiyama ProLite TF1015MC-B3 | 311.90 | 11,888 | [geizhals](https://geizhals.de/iiyama-prolite-tf1015mc-b3-a3228748.html) |
 | 24 V supply, 120 W | 1 | Mean Well SDR-120-24 | 38.87 to 47.35 | 1,482 to 1,805 | [geizhals](https://geizhals.de/980542712) |
 | Servo kit 100 W, EtherCAT | 2 | StepperOnline A6-EC100L2A1-M17 | USD 123.29 each | 8,137 | not on geizhals; [StepperOnline](https://www.omc-stepperonline.com/a6-series-100w-ethercat-ac-servo-motor-kit-3000rpm-0-32nm-17-bit-absolute-encoder-ip67-a6-ec100l2a1-m17), China warehouse |
-| **Total** | | | **1,891.60 to 2,104.39 + USD 246.58** | **80,235 to 88,346** | |
+| **Total** | | | **1,684.03 to 1,896.82 + USD 246.58** | **72,324 to 80,434** | |
 
 Notes on the prices:
 
@@ -137,8 +140,14 @@ Notes on the prices:
   (7%) and duty are added. The listed gross price is therefore used as
   the landed low end; the bill of materials adds 30% for shipping and a
   Thai distributor as the high end (estimate).
-- **EK1100:** geizhals has no current offer; EUR 150.75 is the last
-  price, with EUR 255.43 at the top of the range.
+- **QiTech shop:** Beckhoff terminals new in the original box, bought
+  out of an insolvency, at a fraction of the usual price: EL1809
+  EUR 16.53 against EUR 93.97 on geizhals, EL2809 EUR 41.03 against
+  EUR 102.97, EK1101 EUR 85.13 against EUR 150.75 for an EK1100 (no
+  current geizhals offer). Together EUR 207.57 (THB 7,912) less. The shop
+  ships worldwide by DHL from Darmstadt in 7 to 14 working days; the
+  postage to Thailand only shows at checkout (not checked). It has no
+  EL3152 or EL5101, so those two stay with geizhals.
 - **Mini PCs** on geizhals are marketplace brands (ANDAQI, MNBOXCONET,
   AIOPCWA). Before ordering, check that the ports are i226-V (not the
   older i225) and that the BIOS lets C-states be switched off.
@@ -152,31 +161,87 @@ Notes on the prices:
 - **Not on geizhals:** the servo kits (StepperOnline direct), the optoNCDT
   lasers and the Basler cameras (both in the station bill of materials).
 
-Bill of materials effect: the control group comes to USD 4.4k to 8.1k
+Bill of materials effect: the control group comes to USD 4.2k to 7.7k
 (edge PC with GPU and the cabinet lot included) and the station to
-**USD 16.9k to 33.1k (THB 0.56M to 1.09M)**, up from 16.1k to 32.9k,
-mostly the EL5101 and the retail price of the mini PC.
+**USD 16.7k to 32.7k (THB 0.55M to 1.08M)**.
 
 ## 5. Software on the station controller
 
+**QiTech Control, checked 19 October 2026.** QiTech, a machine builder in
+Darmstadt (filament extrusion and winding), publishes the control
+software of its own machines:
+[QiTech Control](https://github.com/qitechgmbh/control), LGPL-3.0, 359
+stars, 2,855 commits since January 2025, last push 16 October 2026,
+running more than ten of their production machines (their README). It is
+a Rust server on EtherCrab (their fork `ethercrab-dc`) with axum and
+Socket.IO, an Electron and React front end, and a NixOS image with a
+tuned kernel. The EtherCAT layer is a separate library,
+[qitech_lib](https://github.com/qitechgmbh/qitech_lib), also LGPL-3.0.
+
+What fits:
+
+- The same choices as this plan: Rust, EtherCrab, NixOS, Beckhoff
+  terminals, no PLC.
+- Distributed clocks are built in (SYNC0 at 1 ms with a 500 µs shift by
+  default), with SDO access, PDO mapping and the EtherCAT state changes.
+- Drivers exist for the EK1100 and the EL2809 of our list, and for 4 to
+  20 mA inputs (EL3021, EL3024).
+- A CiA402 servo driver for the Panasonic MINAS A6 over CoE (169 lines)
+  is the template for the A6-EC: the same profile and the same PDO and
+  SDO steps.
+- Their NixOS settings run in production: `isolcpus=2,3` (core 2 for the
+  EtherCAT thread, core 3 for the control loop), `nohz_full`,
+  `rcu_nocbs`, `pcie_aspm=off`, `preempt=full` on kernel 6.18, and a
+  realtime group with rtprio and memlock.
+
+What is missing:
+
+- Drivers for the EK1101, the EL1809 (the 16-channel twin of the
+  supported EL1008), the EL3152, the EL5101 and the A6-EC drive. A
+  Beckhoff driver is a short file (their EL2809: 138 lines). We write
+  them and send them upstream.
+- The library's README warns that its API "may change drastically"
+  before a stable release, so we pin one commit.
+- The full QiTech Control app (Electron front end, a GNOME desktop on the
+  machine PC, their machine catalogue) is built around their machines.
+
+**Decision:** qitech_lib, pinned, is the EtherCAT layer; the station
+service on top of it is ours; the full app is not used. The HMI stays a
+web page from the station service, which keeps the controller image
+small and the station inside the factory application's stack. Adding the
+station as a machine in a fork of their app stays open if their front
+end proves worth it. LGPL-3.0 leaves our own code under our own licence;
+changes to the library are shared under the LGPL, which we want anyway
+for the drivers. The obligations only apply if we hand the software to
+someone else.
+
+**Also in their shop, not taken:** TwinSAFE terminals (EL1918
+EUR 140.89, EL2904 EUR 105.85, EL6910 EUR 106.12) need Beckhoff's
+TwinCAT tools to set up the safety logic and a master that passes the
+safety frames between terminals, which qitech_lib does not offer; the
+PNOZ relay is simpler. Beckhoff servo terminals with STO (EL7211-9014
+EUR 215.99 with an AM8122 motor at EUR 285.33) cost about EUR 500 an
+axis and need a 48 V supply; the 100 W kit stays.
+
 **Operating system (NixOS module in the plant's clan):**
 
-- Kernel 6.12 LTS with PREEMPT_RT, which is in the mainline kernel since
-  6.12. The same kernel suits the IgH fallback, whose native i226 (igc)
+- Start from QiTech's tested kernel settings above. If the bench jitter
+  test fails, move to 6.12 LTS with PREEMPT_RT (in the mainline kernel
+  since 6.12), which the IgH fallback needs anyway: its native i226 (igc)
   driver is listed for 6.12
   ([IgH device drivers](https://docs.etherlab.org/ethercat/1.6/doxygen/devicedrivers.html)).
-- One core isolated for the bus loop (`isolcpus`, `nohz_full`,
-  `rcu_nocbs`), the EtherCAT port's interrupts pinned to it, deep
+- The EtherCAT port's interrupts pinned to the EtherCAT core, deep
   C-states and Energy Efficient Ethernet off on that port.
-- The station service runs under systemd with real-time priority and
-  restarts on failure; logs go to the plant's log store.
+- The station service runs under systemd with real-time priority,
+  locked memory and raw-socket rights, and restarts on failure; logs go
+  to the plant's log store.
 
 **Station service (Rust, one program, written by us):**
 
-1. **Bus loop:** EtherCrab every 1 ms with distributed clocks; brings
-   all slaves to OP, maps the drive PDOs, runs the CiA402 state machine
-   of both drives, and re-adds a drive that left the bus after an
-   e-stop.
+1. **Bus loop:** the qitech_lib EtherCAT thread every 1 ms with
+   distributed clocks; brings all slaves to OP, maps the drive PDOs,
+   runs the CiA402 state machine of both drives, and re-adds a drive
+   that left the bus after an e-stop.
 2. **Sequence:** one state machine per record: wait at the infeed,
    convey, stop on the latched leading edge, lift, clamp, one turn,
    unclamp, lower, convey out, push if rejected. Every step has a
@@ -221,17 +286,17 @@ sits between the spindle and the line timing.
 
 ## 7. Bench test, before the frame is built
 
-**Parts:** one servo kit, the mini PC, the EK1100 with the four I/O
+**Parts:** one servo kit, the mini PC, the EK1101 with the four I/O
 terminals and the end cap, the spindle encoder, the PNOZ s3, two
-contactors, the e-stop and the 24 V supply: EUR 1,579.70 on geizhals
-plus USD 123.29, about **THB 64,000 (USD 1,950)**. Every part goes into
+contactors, the e-stop and the 24 V supply: EUR 1,372.13 (geizhals.de
+and the QiTech shop) plus USD 123.29, about **THB 56,000 (USD 1,710)**. Every part goes into
 the station afterwards. One laser and one line-scan camera, ordered
 early from the station list, make the test complete. A reject record on
 a test mandrel is the load.
 
 | # | Test | Pass (our targets) |
 |---|---|---|
-| 1 | EtherCrab brings coupler, terminals and drive to OP with distributed clocks at 1 ms | all slaves in OP, no lost frames over 24 h |
+| 1 | qitech_lib (EtherCrab) brings coupler, terminals and drive to OP with distributed clocks at 1 ms | all slaves in OP, no lost frames over 24 h |
 | 2 | Cycle timing under load: images streaming on port 2, HMI open, CPU stress on the other cores | worst-case jitter under 50 µs over 24 h |
 | 3 | Spindle in CSP: one turn a second, 0.15 s run-up | stop repeatable within ±0.1° at the spindle |
 | 4 | EL5101 count against the servo position | exactly 6 motor turns per spindle turn over 1,000 turns, index latched every turn |
@@ -240,8 +305,9 @@ a test mandrel is the load.
 | 7 | Conveyor (same drive in CSV): through-beam on touch probe 1 | position latched on every pass |
 | 8 | E-stop and door | contactors open, drive leaves the bus, I/O stays in OP; drive back in OP within 10 s of the reset |
 
-If EtherCrab fails tests 1, 2, 3 or 8 and a week of work does not fix
-it, repeat them with the IgH master on the same kernel. The station
+If the EtherCrab stack fails tests 1, 2, 3 or 8 and a week of work does
+not fix it, repeat them with the IgH master on the 6.12 real-time
+kernel. The station
 service keeps the bus loop behind one interface, so only that part
 changes.
 
@@ -250,7 +316,7 @@ changes.
 | Weeks | Step | Who |
 |---|---|---|
 | 1 to 3 | order the bench parts; servo kits from StepperOnline's China warehouse, Beckhoff and the rest from Germany or a Thai distributor | us |
-| 3 to 6 | bench test (section 7) | us |
+| 3 to 6 | drivers for EK1101, EL1809, EL3152, EL5101 and the A6-EC in qitech_lib, sent upstream; bench test (section 7) | us |
 | 5 to 9 | cabinet schematic (QElectroTech, open source) and cabinet build; station service and HMI | us, with a panel builder in Chiang Mai if needed |
 | 7 to 11 | frame, conveyor, spindle head and pneumatics | machine builder |
 | 10 to 12 | cabinet on the frame, wiring, drive tuning on the real spindle, first records | us and the machine builder |
@@ -262,19 +328,21 @@ records need checking (estimate).
 ## 9. Spares
 
 One servo kit (covers both axes), one spindle encoder and one contactor:
-about USD 210 at the prices above. The Beckhoff terminals are not
-stocked at launch; a failed one is a few days by courier from Europe
-(estimate).
+about USD 210 at the prices above. At the QiTech shop's prices a spare
+coupler, EL1809 and EL2809 add only EUR 142.69 (USD 165), so they are
+stocked too. The EL3152 and EL5101 are not; a failed one is a few days by
+courier from Europe (estimate).
 
 ## 10. Open points
 
-1. **EtherCrab with the A6-EC drive** is untested; its CiA402 support is
-   basic. The bench answers it, with IgH as the fallback.
+1. **The A6-EC drive on qitech_lib** is untested; the driver is ours to
+   write from their MINAS A6 one. The bench answers it, with IgH as the
+   fallback. Pin the qitech_lib commit; its API is not stable yet.
 2. **SYNC0 range of the A6-EC** at 1 ms in CSP and CSV: not in the
    material read so far; the bench checks it.
 3. **EL5101 termination** and the RS-422 chain with three receivers.
-4. **Local prices:** ask a Thai Beckhoff source for a quote before
-   ordering from Germany.
+4. **Shipping:** the QiTech shop's postage to Thailand (shown at
+   checkout) and a Thai Beckhoff quote for the EL3152 and EL5101.
 5. **Risk assessment** by the machine builder: confirms PL d and stop
    category 0, or asks for the delayed relay.
 6. Still open from the station doc: 7"/10" quick change, anti-static at

docs/equipment/inline-qc-station/inline-qc-station-bom.csv

@@ -28,15 +28,15 @@ Sensors,Photoelectric presence sensors and one through-beam (the through-beam al
 Sensors,"Cylinder position switches (lift up/down, pusher home/out, mandrel open/clamped)",6,SMC D-M9 class,25,60,150,360,each; estimate
 Sensors,"Spindle incremental encoder, RS-422 line driver, 5 V, 2,000 to 2,500 pulses a turn: A/B clock both line-scans, A/B/Z to the EL5101",1,Omron E6B2-CWZ1X 2000 P/R class,53,282,53,282,"E6B2-CWZ1X 2000 P/R listing EUR 45.52 to GHH60 2500 P/R line driver EUR 187.83 (geizhals.de, 19 Oct 2026, lowest listed price incl. 19% German VAT; marketplace sellers, test on the bench); high end +30% for shipping, Thai duty and VAT or a Thai distributor (estimate)"
 Sensors,"Thermal camera (option, not in the total)",0 (1 optional),Optris Xi 400,2100,3000,0,0,"from EUR 1,950 (Optris); USD 2,995 (moviTHERM)"
-Control,"EtherCAT station controller: fanless mini PC, Intel N100, 2 or more Intel i226-V ports, NixOS with PREEMPT_RT, open-source EtherCAT master (EtherCrab, IgH fallback)",1,ANDAQI RS55 / MNBOXCONET P2-N100 / AIOPCWA AI201-TF,455,685,455,685,"EUR 393.99 to 455.99 (geizhals.de, 19 Oct 2026, lowest listed price incl. 19% German VAT: geizhals.de/mini-pc-barebone-netzwerk-pc-intel-n100-a2926989.html); high end +30% for shipping, Thai duty and VAT or a Thai distributor (estimate)"
-Control,EtherCAT coupler,1,Beckhoff EK1100,174,295,174,295,"EUR 150.75 to 255.43, no current offer (geizhals.de/144468496, 19 Oct 2026)"
-Control,"16 digital inputs, 24 V: photoelectric sensors, cylinder switches, safety status",1,Beckhoff EL1809,109,141,109,141,"EUR 93.97 (geizhals.de, 19 Oct 2026, lowest listed price incl. 19% German VAT: geizhals.de/1371087148); high end +30% for shipping, Thai duty and VAT or a Thai distributor (estimate)"
-Control,"16 digital outputs, 24 V, 0.5 A: valves, stack light, light enable",1,Beckhoff EL2809,119,155,119,155,"EUR 102.97 (geizhals.de, 19 Oct 2026, lowest listed price incl. 19% German VAT: geizhals.de/1371087504); high end +30% for shipping, Thai duty and VAT or a Thai distributor (estimate)"
+Control,"EtherCAT station controller: fanless mini PC, Intel N100, 2 or more Intel i226-V ports, NixOS real-time tuned, station service on QiTech's open-source EtherCAT library (EtherCrab based; IgH fallback)",1,ANDAQI RS55 / MNBOXCONET P2-N100 / AIOPCWA AI201-TF,455,685,455,685,"EUR 393.99 to 455.99 (geizhals.de, 19 Oct 2026, lowest listed price incl. 19% German VAT: geizhals.de/mini-pc-barebone-netzwerk-pc-intel-n100-a2926989.html); high end +30% for shipping, Thai duty and VAT or a Thai distributor (estimate)"
+Control,EtherCAT coupler (the EK1101 adds an ID switch),1,Beckhoff EK1101,98,128,98,128,"EUR 85.13, 148 in stock (QiTech community shop (shop.qitech.de, new in original box from an insolvency, 19 Oct 2026, incl. 19% German VAT: shop.qitech.de/products/beckhoff-ek1101); high end +30% for shipping from Darmstadt and Thai duty and VAT (estimate)"
+Control,"16 digital inputs, 24 V: photoelectric sensors, cylinder switches, safety status",1,Beckhoff EL1809,19,25,19,25,"EUR 16.53, 157 in stock (QiTech community shop (shop.qitech.de, new in original box from an insolvency, 19 Oct 2026, incl. 19% German VAT: shop.qitech.de/products/beckhoff-el1809); high end +30% for shipping from Darmstadt and Thai duty and VAT (estimate)"
+Control,"16 digital outputs, 24 V, 0.5 A: valves, stack light, light enable",1,Beckhoff EL2809,47,62,47,62,"EUR 41.03, 104 in stock (QiTech community shop (shop.qitech.de, new in original box from an insolvency, 19 Oct 2026, incl. 19% German VAT: shop.qitech.de/products/beckhoff-el2809); high end +30% for shipping from Darmstadt and Thai duty and VAT (estimate)"
 Control,"2 analog inputs, 4 to 20 mA: the two warp lasers",1,Beckhoff EL3152,241,314,241,314,"EUR 208.90 (geizhals.de, 19 Oct 2026, lowest listed price incl. 19% German VAT: geizhals.de/185886294); high end +30% for shipping, Thai duty and VAT or a Thai distributor (estimate)"
 Control,"Incremental encoder interface, RS-422, 5 V encoder supply: spindle encoder count and index latch",1,Beckhoff EL5101,336,437,336,437,"EUR 291.04 (geizhals.de, 19 Oct 2026, lowest listed price incl. 19% German VAT: geizhals.de/2974477757); high end +30% for shipping, Thai duty and VAT or a Thai distributor (estimate)"
-Control,End cap,1,Beckhoff EL9011,5,7,5,7,"EUR 4.33 (geizhals.de, 19 Oct 2026, lowest listed price incl. 19% German VAT: geizhals.de/455904583); high end +30% for shipping, Thai duty and VAT or a Thai distributor (estimate)"
+Control,End cap,1,Beckhoff EL9011,2,3,2,3,"EUR 1.76, 131 in stock (QiTech community shop (shop.qitech.de, new in original box from an insolvency, 19 Oct 2026, incl. 19% German VAT: shop.qitech.de/products/beckhoff-el9011); high end +30% for shipping from Darmstadt and Thai duty and VAT (estimate)"
 Control,"Edge PC with GPU, 4 GigE PoE ports, NixOS",1,,1500,3200,1500,3200,"qscompute buying guides 2026: USD 1,490 to 3,200"
 Control,"HMI: 10.1 inch PCAP touch monitor, 7H glass, showing the station's browser page",1,iiyama ProLite TF1015MC-B3,360,468,360,468,"EUR 311.90 (geizhals.de, 19 Oct 2026, lowest listed price incl. 19% German VAT: geizhals.de/iiyama-prolite-tf1015mc-b3-a3228748.html); high end +30% for shipping, Thai duty and VAT or a Thai distributor (estimate)"
 Control,"Safety: relay for e-stop and door switch, 2 contactors in series in the drive supply (the 100 W kit has no STO), e-stop button, reset button",1 lot,"Pilz PNOZ s3 750103, Siemens 3RT2015 24 V DC coil, Schneider Harmony e-stop",300,389,300,389,"PNOZ s3 EUR 148.38, 3RT2015-1BB41 EUR 27.95 each, e-stop EUR 45.08 (geizhals.de, 19 Oct 2026, lowest listed price incl. 19% German VAT); reset button EUR 10 (estimate); high end +30% for shipping, Thai duty and VAT or a Thai distributor (estimate)"
 Control,"Cabinet, 24 V 120 W supply, breakers, terminals, wiring, shielded EtherCAT patch cables, stack light",1 lot,Mean Well SDR-120-24 supply,800,2000,800,2000,"estimate; Mean Well SDR-120-24 from EUR 38.87 and shielded Cat5e patch cables from EUR 0.62 (geizhals.de, 19 Oct 2026)"
-Total,"Hardware per station, thermal camera excluded",,,,,16912,33061,sum of the lines above
+Total,"Hardware per station, thermal camera excluded",,,,,16671,32681,sum of the lines above