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