Technical questions about CIA402 and homecomp.comp on A6

@Andrax
I’m currently restructuring my CiA402 integration to make it more modular and deterministic before going back to real EtherCAT hardware. My goal is to formalize the state handling and timing assumptions first, instead of patching behavior incrementally.

I think studying industrial PLC CiA402 homing FBs is a good idea conceptually. Even if the source code is compiled, the documented state diagrams and the Execute/Busy/Done/Error behavior usually define the real logic contract.

If you have access to an EtherCAT PLC with CiA402 homing FBs, could you share the documented state diagram or the Execute/Busy/Done/Error sequence? That would help us model a proper state machine for LinuxCNC.

I plan to open a separate thread focused specifically on formalizing the homing state machine. If you're interested in contributing your PLC perspective there, I think that would be very valuable.