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).
User, 19 Oct 2026: plan the current EtherCAT setup, keep the 100 W servo,
check prices on geizhals.de.
- New docs/equipment/inline-qc-control-plan.md: decisions, bus layout
(drives at the end of the line because the A6-200EC takes control
power from the main supply), I/O list for EL1809/EL2809/EL3152/EL5101
and the drive touch probe, PDO and DC notes from the A6-EC manual,
geizhals.de price table (EUR 1,891.60 to 2,104.39 + USD 246.58 for the
servo kits, THB 80k to 88k), NixOS/EtherCrab software, safety circuit
(PNOZ s3, two contactors, dump valve), bench test with pass marks
(parts about THB 64k, all reused), build order, spares, open points.
- EL3102 replaced by EL3152: the optoNCDT 1420 output is 4 to 20 mA.
- Spindle encoder index goes to an EL5101 instead of the drive touch
probe; encoder 2,000 to 2,500 pulses.
- BOM: control lines split per part with geizhals.de prices (+30% high
end for shipping and Thai duty/VAT, estimate); total USD 16,912 to
33,061 (THB 0.56M to 1.09M). Doc, render caption and fleet calculator
text now say USD 17k to 33k.
- README links the plan.
grabowski