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How would you control it if it was yours. I have a mesa 7i96s for control hardware. I'm open to suggestions on what method of control to use. Furthermore, I'm not familiar with the other methods. I'm not familiar with step rate method either. At this point, I'm just kind of flying blind. Is there any reading on the different methods I could read? I'm not afraid to get my hand dirty to do the work myself, but I get lost in the mountains of information available on this subject. Plus, the manual for the servo I bought is translated from Mandarin so it takes many times of reading it to understand as I am not familiar with rhetoric. And I still don't completely understand it. It comes slowly the more I play with it. en.bergerda.com/filedown.php?id=49 here is the link to that. As always, help is greatly appreciated.

A 1 to 2 meter long wingspan using a Clark-Y should do well. or longer if you prefer motor gliders.
it would probably depend more on how heavy the whole plane would be or all up weight.
If you're expecting to fly outside on mildly windy days or inside a warehouse .
Some of the indoor warehouse planes can get impressively large.

Well i finally had time to get after it this weekend. I had my boot usb in the back of my pc so i was resetting it up every restart. removed that and did another set up. after a bit of tuning its running like a champ in all axis. I did change the timer and it seems like some of the other errors i was having went away as well.

Thanks for all the help!

onto the next roadblock..

Download the 2.9.2 ISO and boot the PC from it, do not install, just use the wizard to create the config, save it to another USB or to hard drive, remove the USB, start the PC normally and use that config.

Videos getting very enjoyable, thank you.
Reminds me, i have to send some big wing designs to the owner of a 2x1x1 meter big foam cutter i built probably 15 years ago, what wing span would be OK for 2 of 2212 motors with 10" props, 2 bladed ones?
Must use the pink foam, that or the plain white one, no other types here.

New wrinkle. I went back and homed the system. As soon as it moves the error pops up, but I noticed no WCS was selected. I cannot select one until the system homes, but once I can, the backplotter works and the error doesn't reappear. It looks like I'm back where Unilogic was. Now I just have to figure out what part of my config the system dislikes.

another update video.
I am still running this on GRBL 5X but that's because I am trying to configure the simplest setup possible
So far this is version 1 and I am working on the cad models for Verion 2.though that isn't shown in this video.

forum.linuxcnc.org/38-general-linuxcnc-q...ronous-position-mode

I have checked my code and we are not doing it either!
I've added an issue to remind me to fix this.
I am out of time now until this evening.
Happy to accept a PR to correct this in the meantime.

I added the "Go to zero" function to "axis_tool_button.py" but it makes little sense from the user's point of view.
What do you think about adding the ability to add such functions in an easier way, maybe in an ini file?

Attached is a screenshot of the output.
Realtek is the onboard NIC.
The Intel NIC works well and has a MAX ping of 0.36 after one hour. 
This command 
 hardware-irq-coalesce-rx-usecs 0
I have not yet tested this command for the new Intel NIC.

Apparently others have already had a problem with the driver!?
groups.google.com/g/linux.debian.kernel/c/HJQTXTdpBJo?pli=1

Addendum
I have just looked again at my laptop, i.e. the first device on which I installed LinuxCNC, to see which NIC driver is installed there. The r8169 RTL8168 is also listed there. I also had the problem with the laptop with the long ping time.  I have also attached a screenshot of the laptop.

Thank you all for your help.

I managed to find out that this drive works in Cyclic Synchronous Position Mode when using the EMC-MC01 card, which in turn works with Tamagawa encoders that have Data+ and Data- wires and power +/-. (Without the Clock signal!!!)
It is unclear if such cards are available for sale, as I have not yet found a price for them. However, they are mentioned in several documents. I will inquire with the dealer whether such a card exists and if it can be purchased now.

For now, I can only work (in position) with this drive in Profile Position Mode (6060 = "1").
I hope this information will be useful to someone

I commited the PR to conform with the standerd pin names which should make it easier for you to try this component. It needs testing!

Please try my cia402 homecomp.
github.com/rodw-au/cia402_homecomp/tree/main

I went back to the original homecomp code so it should work. I only get small bursts of time to work on this so I forget what is meant to be supported. (My first homecomp was obsoleted by massive changes to the framework)

Note my pin  names are different. There is a PR there to change them back to the default names which I am deliberating over accepting or not. Give me your thoughts on this.

I've had some help from scottlaird and was hoping once this is tested, it would be distributed with the hal ethercat driver.

First there was cia402.comp
Then came custom homing.
marcoreps forked the cia402.comp from here
github.com/dbraun1981/hal-cia402
It definitely switches to homing mode but it was developed on a drive that homed to index 
But it never worked with cia402 external switches. I ried very hard before concluding changes to homing.c were required, then the homecomp was released.

I have also worked on a cia402 homecomp and was hoping it would become part of the ethercat repository in time and the need for cia402.comp would be obsoleted.
github.com/rodw-au/cia402_homecomp