Home position using ethercat servo position (absolute encoder value).

Hi everyone.
Ưhile working with linuxcnc ethercat, I have some questions, hope to receive advice or comments from everyone.

1. Normally, we often use limit switches to determine "home position". 

2. My idea is to use the servo motor position in "absolute mode" as "home position". That means, for example, in the xyz robot, I mark a fixed point on each axis, then move the axes to that point (this point will be the "home position"). Next, I read the absolute encoder values ​​from the ethercat servo command on the 3 axes, and get the value of "home position". So how can I implement the above idea?
Thank you very much.

There is a setting in the driver to set the current position as the origin. It can be operated through the panel. I don't know what brand of driver you are using.

Dear onceloved
Thank you for your reply.
I am using Panasonic A6 servo motor.
I have two questions in your advices.
1. When I power off the motor, and shutdown the controller. Are these values ​​saved into the controller? And When I power on the motor and Boot the controller, does this position change?
2. How can I modify in the hal file

1 The absolute value will record the current coordinate position
2 Add 6098 related object dictionaries in the xml file 35 The current position is the origin

I just tested 6098 on my servo drive and it cannot set the current position as the origin

Dear onceloved
Normally, for cobots, origin position or zero position, they are saved some file in robot controller (txt file, or xml file). don't slave in object dictionaries of ethercat.