Help Needed: Cracking the Code on LinuxCNC Servo Homing Setup!

Parts turned up on Friday and my homing lab is slowly taking shape. I just have to bolt the linear guide down.

 

I have a rtelligent closed loop ethercat stepper to mount up to this.
Then testing the custom homing module
 

Hi Paul,
I could not run with el8_homecomp. I can run with cia402_homecomp of rodw.
I tested with both Leadshine + JMC:
- Homing is ok. But speed is too fast.
- HM (homing mode): not switching to, and of course "opmode" is still 8
- I set homing velocity: 6099-01h and 6099-02h to reduce homing speed, but not effective