Ethercat installation summary

don't use sudo.

Use the terminal for the rip install after executing rip-environment, then change to the the linuxcnc-ethercat folder.

- make clean
- make install

db1981, thanks for the suggestion (and for the cia402 component).
Waiting for before totally worker, now I can start the drive homing procedure (opening a PR later today).

Now, while the drive is homing, I get a joint follow error from linux cnc because the joint position feedback is moving past the max error.
What is the best way to do this? Ideally I would like linuxcnc to ignore the feedback and wait until the drive is done homing, the set the home offset.

The solution here is to modify Dominic's component and set pos_fb=pos_cmd when the drive is homing.
The drive is moving outside linuxcnc's control so it gets confused

Thanks for the help Rod! (and for publishing your config)

It feels a little bit dirty to lie to the motion controller like that, but it makes sense.

What else should I change to do the final part of the homing?
I expect the sequence of events to look like this:
- joint.0.index-enable sets cia402.0.home
- the ECT60 starts following the homing procedure and moves to find the edge of the home sensor (specifically I'm using homing mode 22)
- linuxcnc sees that homing is complete and sets the machine coordinates to "HOME_OFFSET" from the ini <-- ???

How do I do the last step? Apologies but I'm completely new to linuxcnc, this is probably a super trivial thing

Btw, per your suggestion, I added this line in "read_all": Is that what you were thinking?

Yes give that a go.

I could not get Dominic's component working with the ECT drives. Domininc I think homed to index on his drives ad that is not supported o n the ECT.
The solution is to create a custom homecomp  linuxcnc.org/docs/2.9/html/man/man9/homecomp.9.html
Have a good loook at homing.c and understand it before you start. BAsically you would skip a lot of steps and once homing is complete on the drive, Linuxcnc shold continue to do all the home offsets etc.