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Todd wrote:

So It sounds like you are seeing parts of your code that are not reaching the programmed feed rate because of short line segments and acceleration limitations, but when you slow the feed override then those acceleration limited areas don't slow down the same as parts of your code that were not acceleration limited, is this correct? And you are asking for all parts of your code to slow at the same percentage regardless whether it was able to move at the programmed feed?
 

Yes, Exectly Todd, slow each gcode line with the same speed.

I did enough work in my new basemod.comp homecomp to prove that this works so I was correct. It makes the barest mods to the homecomp template. Its unfinished but feel free to look at this.
I am half thinking that the homecomp should let cia402 start the homing and then monitor the status word for target reached (bit 4)

github.com/rodw-au/cia402_homecomp

i do have both of these lines in my hal file

THere is a topic on the forum that explains but I am not logged in to link you to it. Its probably in this thread anyway.

I think there is an error where you load your xml file in hal
Do you have this in hal?
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec

you probably need to modify cia402.comp and somehow allow you to set the controlword from hal (probably from another pin)
What are you trying to do?