Ethercat A6 Servo Homing problem

Hey Guys, I’m pretty new here.
 I have a little Problem with configuring my Stepper online A6 Servo Drive. I want to use torque homing but I can not Figure Out wich Parameters I need to set in the Drive. 

And I also Think that my Linux CNC Config is wrong. Can maybe someone with more experience then me help me

Liebe Grüße

Jugo2 wrote:

I want to use torque homing ....

Is that where the motor moves till it hits a hard stop to home?
Sorry i can not help more, but no experience with EtherCAT, yet.

Thanks for the interest with StepperOnline's A6 servo system. At present, the StepperOnline A6 servo does not support torque-based homing functionality.

StepperOnline wrote:

Thanks for the interest with StepperOnline's A6 servo system. At present, the StepperOnline A6 servo does not support torque-based homing functionality.

If not, why is torque-based homing in the user manual as an option? (i.e. homing modes -1 & -2, pages 74 & 75)

Are there any other features/options which are documented but not available?  That is, what features were removed from the JSS715N servos for the A6 version?

-1 and -2 definitely work. i'm using them

fer662 wrote:

-1 and -2 definitely work. i'm using them

Thanks for the confirmation.  I just went through what now appears to be a pointless re-wiring exercise connecting limit switch signals to my axis drive digital inputs. (new servo installation on existing machine)

Have you modified/tuned the C10.30 - C10.32 parameters for hard-stop homing?

If so, can you share the mechanical arrangement and parameter values?