Double Miter Saw Machine XAB Configuration

Hello everyone, it's been a while since I've been here, I've tried several things since the last time and of course problems have arisen, thanks Aciera again.

I've tried using extrajoint and it works, after performing the home process limit3 is activated and then you just have to change the position value on the pin hal limit3.in, here only one complaint I haven't managed to get the joint to go to the HOME position = PosHome configured in the *.ini file, it always stays at the minimum position MIN_LIMIT.

I've also developed a real-time component that controls the cutting behavior, right now I use the MOTION motion controller not extrajoint which is what I want in the future, to know when the machine is in position I've used the motion.in-position signal, I've found that the joint.in-position signal doesn't switch for extrajoints, so I need to know when a movement has been executed.
For the latter I have thought about comparing the position that I establish in limit3.in with the joint.pos-fb position, here I have another question, how would it be possible to feedback the count of the driver encoder, for example the Ethercat drivers from Lichuan.

I did this with PLC, it is easier and the expected result is obtained.
Greeting