@rodw Yes, I would have implemented it in the same way in a PLC. The only thing missing is the safety timer from start homing to axis in motion. Then the homing would be practically monitored. Regarding the axis jumping, you could set the feed rates to minimum after completion until Linuxcnc has synchronized.
@Hakan, aren't the csp csv and pv modes managed by the driver? I believe that torque mode is not supported by the A6 during homing. However, it would be an option if you let Linuxcnc manage homing again. Since the Z pulse is not output by the A6, you could perform the torque search.
