StepperOnline A6 Servo

I'm not surprised I misinterpreted the intent of that pin.  The current state of in-drive homing code and documentation makes it a bit of an "adventure!"

TangentAudio wrote:

I'm not surprised I misinterpreted the intent of that pin.  The current state of in-drive homing code and documentation makes it a bit of an "adventure!"

Yes, it is confusing. I tried to use joint.N.is_custom-homing to trigger the cia402 homing input but hal complained about the pin type so had to add a pin of type IO (joint.N.start-homing). I think I could sense homing is done when it is set to zero. But I am getting ahead of myself

I made my own version of the CIA402 and custom home components for the A6 servo and put it on github -> github.com/CollinBardini/linuxcnc-a6-servo
The custom home component writes to a signal called "start-cia-homing" (from Rod's implementation), which kicks off homing in the CIA402 components. The CIA402 component then handles starting homing by writing to controlword and operation mode. While the servo is homing, the home component monitors the statusword until homing is complete.
I made it as barebones as possible to help others get started. I will write a README when I get time. For now, Rod's README is a good starting point.

      Hello, I finally managed to get Linux CNC to start with the HomeComp, but the servos aren't switching to OP mode. I've already tried to find the problem myself, but to no avail. In the folder "Drehmaschine_backup" is my first configuration, with which the motors already worked, but without homing. In the folder "Drehmaschine" is the new configuration with Homecomp.