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Thanks for the information. One of the issues I'm running into is something to do with needing an "enable" signal or something. Still working through that.

I did the latency test. It came out around 150 nanoseconds if I remember correctly.

PCW wrote:

I would think a direct frequency output would be desirable as its readable
in real time by many different types of interface hardware.

Thanks Peter. What would be a good maximum frequency to work with? You will know a lot more than I do

I made my own version of the CIA402 and custom home components for the A6 servo and put it on github -> github.com/CollinBardini/linuxcnc-a6-servo
The custom home component writes to a signal called "start-cia-homing" (from Rod's implementation), which kicks off homing in the CIA402 components. The CIA402 component then handles starting homing by writing to controlword and operation mode. While the servo is homing, the home component monitors the statusword until homing is complete.
I made it as barebones as possible to help others get started. I will write a README when I get time. For now, Rod's README is a good starting point.

hello, for some reason delta put a sticker on for their high frequency drive VFD-H, i removed the sticker and it was actually a B drive VFD-B and i checked the manual it does support modbus,