Problems with Lichuan Ethercat servo drive

 Please note this is not in anyway final. I just wanted to show how I am running and homing a gantry.
I would like to use the actual captured value of the index pulse, not just let LinuxCNC know that it's been hit, but at slow speeds it doesn't matter in my case.
 
 

  
 

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Copying the velocity FF command from the comp file to the XML file significantly reduces following error to a ramp. I haven't really tuned the drive yet. If anyone has found an auto-tune button, please let me know.

.comp
  drv_target_velocity = (int32_t) (velocity_cmd * velo_scale);

.xml
<pdoEntry idx="60B1" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>

Why do i get that it cant find "cia402.0.probe1rising". Where does these pins get added? And in what directory should i have the .comp file?
 

It is in the hal file I attached in a previous message. Search for probe1rising. Please note that this is a work in progress (or lack there of for a couple of weeks). I just wanted to show my hack to get a gantry going. Download all the files and search them. Be aware of the LinuxCNC underscore dash translation that occurs between various files. That's why my naming is poorly readable.

If you aren't trying to get a gantry going don't look at what I've posted, it will only set you back.