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I have EtherCAT AC Servos with 23-bit multi-turn absolute encoders. I am trying to configure my "home" position. Is there a definitive documentation on using absolute encoders?

My absolute location is not where I want G53 "home" to be, in the case of the below and the provided INI sniplet, it's 7.3033 inches from the zero location I want.  Reading the documentation, it states to set HOME_OFFSET, and I also see a forum posts to set HOME. I feel like I am just guessing.  I have tried both, and neither works.  Also, I should never have to "home" the axis, correct?

I would try the steps A,B,C of example 1 I posted earlier

ok that makes sense, and after spending some more time working on it, including taking the scale back to 10, i have it now in a pretty good spot where i would consider it time to start tuning.

does the halscope guide tommy put together also work for tuning torque mode PIDs? otherwise im currently hunting out an equally well put together guide so i dont resort to just changing numbers and seeing what happens.

Thanks langdos, I did a similar fix

I have absolute encoders, so I just set the soft limits.

Maybe there is an issue with hard limits? Should I report this? GitHub issues?

You can also have a look at the EasyCAT:
www.bausano.net/shop/gb/home/1-arduino-ethercat.html

you can hook encoder pretty easily to that for much cheaper. And it is also quite flexible.
Encoder counting happens on arduino and current count is sent over EtherCAT to LinuxCNC, which saves you some hal configuration.

RE: EL1819 vs EL1809 response time - i think it includes signal debuncing, so 3ms does not necessarily have to be bad, because it's slower than 10us.