Ethercat gantry config

Hi,
i am trying to setup a gantry config with ethercat servos.
Is there some working sample config somewhere? I am kind of lost...
Attached is my nonworking config.

Some questions:
- In linuxcnc terminology, does a gantry count as one or two joints?
- What is the difference between "gantry" and "gantrykins"? 
- How are the different inputs and ouputs of the two ethercat drives combined into one axis? "gantry" module does this only for pos/fb, but not for status, etc.
- How is homing done?
- How can i detect faults, e.g. one servo nonop, or both servos out of sync; and stop everything?
 

I don't have all the answers but to get you going here is something.

Afaik a gantry system is setup using trivkins kinematics - that you have - and specify coordinates=XXYZ (if you have two servos in X).
You will get four joints, joint_0 and joint_1 is X, joint_2 is Y, joint_3 is Z.
Consequently, a joint represents a servo.
Set up the system like any gantry system.
Homing - see the linuxcnc homing doc.
Looking at the hal and ini files you seem to be almost there. Just change the trivkins line in the ini file and see if it becomes better.
 

Thanks for your help. That XXYZ made a huge difference.

yeah, to get simple homing (you have endstop signals for each servo) is pretty easy. The issue is precision homing using index signal.