HAL for open-loop encoder homing

Hello.
I am using a Mesa 5i25/7i76/7i85s setup with LinuxCNC 2.9.4 on a milling machine.
I am using an open-loop control configuration. The axes are equipped with Chinese Sino optical linear scales, which I want to use for precise homing. AI helped me write the HAL and INI files for this setup. Before I added the BACKLASH parameter to the INI file, the system performed homing correctly and accurately using the scales' index mark; however, after adding BACKLASH, accuracy and repeatability were lost—sometimes it was accurate, other times not. I have attached the HAL and INI files. Could you please advise on how to fix this issue?
I read that this can be resolved using firmware that supports step/direction indexing, but I don't know where to download it.
Thank you.

Is this open loop in the sense that you do not actually use the encoder
or its index for position feedback?

Yes, I use the encoder solely for the homing procedure using the Z-mark on the Sino linear scale.
First, the axis moves to the inductive sensor, and then a precise homing sequence is performed at a lower speed using the encoder's Z-mark.

Alexf2a wrote:

Alexf2a post=350204 userid=28355