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Well, I don't have a pi with linuxcnc and only googled a bit.
forums.raspberrypi.com/viewtopic.php?t=362866#p2229969 worth a try I guess if you haven't done so.
 

There was "A Maximum Limit + Home set" instead of "Z Maximum Limit + Home"

May be I have found least workaround and some glue what's wrong. I tested adding ethernet switch between my Raspberry Pi 5 and ETC60 Ethercat stepper controller. After adding this switch i have not got any synchronization errors or got Raspberry ethernet link up/down causing that error.

Because i have got same error between multiple tested Raspbelly Pi 4 and 5 boards and least three controller boxes having Rtlligent ETC60it cant be just a faulty unit but more common compatibility issue. Least adding switch is workaround fix.

My general experience from Linuxcnc / Ethercat / ECT60 is very positive. First I replaced always failing PC hardware with Raspberry Pi and PIO controlled steppers but I wanted better and Ethercat felt best choice. In beginning i needed to build everything from sources. This joint x motion error / synhcronization error was only unresolved issue and it took long time to find out that it was not caused by other factors like insufficient real time performance.Now when everything works and there is easy installation package i think that it will be my number one option. Next I will try Lichuan Ethercat servo and lets see is do I need switch between Lichuan ethervcat controller or not

unknown wrote:

Major update 1 Nov 2025

First image I feel is suitable for testing.

Linuxcnc 2.9.7 is pulled from the Linuxcnc repos.

 

Thats pretty cool!

Hakan wrote:

ihavenofish wrote:

so if i home and crash, is there something in the controlword and statusword i should see? it happens in a few ms.
 
Use halscope to record, it catches every ms.
If I look at cia402 code the only reason I can see (but I might miss of course)
is that it does an auto fault-reset due to it receiving a fault code.
Halscope.
And thumb on e-stop.

OK, ill try that tomorrow.

Major update 1 Nov 2025

First image I feel is suitable for testing.
After much frustration "the eye candy stuff" is sorted. Background was edited to the best of my "artistic" skills, and first attempt at inkscape, using a standard xfce background with a Linuxcnc logo found on forum member's KurtJacobson's git hub page. 
Splash screen artwork was found on the forum.
Artwork for the background of the Login screen was also found on the forum (robertspark I think was the poster)

If anyone is familar with the rights regarding the artwork it would be appreciated.

Linuxcnc 2.9.7 is pulled from the Linuxcnc repos.
There is still some software that could be pruned, cups is a major one which will also not have the various cups services running. Avahi is another that could be turned off.

Thanks to all who help and gave input

Cheers
Rob

Yup, that's what's not working as expected. It has zero effect on homing.

The section after that is what ill try that tomorrow. That hopefully at least will tell me if linuxcnc is causing the motion, or the drive.

ihavenofish wrote:

so if i home and crash, is there something in the controlword and statusword i should see? it happens in a few ms.
 

Use halscope to record, it catches every ms.
If I look at cia402 code the only reason I can see (but I might miss of course)
is that it does an auto fault-reset due to it receiving a fault code.
Halscope.
And thumb on e-stop.

immediate homing is covered here linuxcnc.org/docs/stable/html/config/ini...ml#_immediate_homing
But spending an hour wiring home switches will be well worth it!
I could not use a machine without home switches and yes I tried!

Nothing seems to change when i home other than the joint error from the crash (i've blocked the axis). So maybe its not the drive homing after all.
still makes zero sense.

Sounds like you are set for internal homing. If you want to do Linuxcnc homing, use generic pin types which you can set in your XML and don't load a homemod. This still works well.

ok, so

machine off:
controlword = 4
statusword = 2672
opmode = 8

machine on:
15
6711
8

press home all and instant crash and fault

saw something about forcing opmode 8, however this changes nothing. still full speed into the end stops.

another suggestion is to just inhibit motion, but that seems not right either. Need to find out WHY it is moving.

so if i home and crash, is there something in the controlword and statusword i should see? it happens in a few ms.

halscope and record statusword and controlword.

well we sorta already did that. there is no setting that doesnt either flicker the drives or slam the axis. like it does't respect search or latch vel at all.

that has to be a clue. something ELSE is making it home. maybe it IS doing internal drive homing?

"Divide and conquer".
Comment out everything except one single axis and try until you find it.