Separating CiA402 Logic from EtherCAT (lcec): Modular Adapter + Drive Stub Valid

Hi,

Now that we won't be getting any support from the German PLC forum, I did some searching myself and found this interesting project. In my opinion, it could serve as a good template, as all the code I've seen so far uses a similar topology.

I would also like to emphasize that there is no need to reinvent the whole concept. We already have functioning components (CIA402; homecomp.comp) that form a good basis. Many thanks to @rodw and @MobiusToast for their excellent pioneering work. What is missing now is the further development of these components.
I fear that even this thread, with its good approach, will ultimately be forgotten.

For my part, I will take a different path.
Since I continue to have homing problems and have now ruled out EMC and configuration errors, I think the problem lies with the A6 itself. Yesterday, it took 3 minutes for the x-axis to start the reference run! 
I will now try to expand my system to include battery-buffered encoders.
At least according to the documentation, this should be possible. This would make homing obsolete.