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Getting back to this project.  Servo enables are working now, and started the drive tuning.  Was wondering if someone could take a look at the attached images and provide any recommendations.  Drives are moving smoothly with the tuning parameters, but wondering if there is further improvement to be made in the servo tuning.  I also have an issue where the torch enable signal is being sent all the time.  I have not fully debugged this yet in the wiring, but any suggestions on if there is a configuration issue that could cause this?  The LED on the SSR on the board does light up when the torch pulse is toggled to on.  

Without FF1/FF2 Tuning:
 

With FF1/FF2 Tuning:

I think its something like:

loadrt mux_generic config="ss2,ss2"

addf mux-gen.00 servo thread
addf mux-gen.01 servo thread

And the main created pins are:

mux-gen.00.sel-bit-00
mux-gen.00.in-s32-00
mux-gen.00.in-s32-00
mux-gen.00.out-s32

mux-gen.01.sel-bit-00
mux-gen.01.in-s32-00
mux-gen.01.in-s32-00
mux-gen.01.out-s32

The select pin for both would connect to the angle jog enable
so the two muxes select either the output of anglejog (when
anglejog is selected) or the raw MPG count (when anglejog is not
selected)  The outputs of the muxes go to the appropriate
joint jog count pins.

Hi,
I have one stepperonline A6 running, just on a test bench for now but it is working well.
Internal homing of the drive is now also working, even tough i am not sure how i got that going.
I tried using the homemod from Marco two weeks ago without success, then reinstalled everything, tried it with the untested one from rod, this also did not work then halcompiled the one from Marco again and all of a sudden it worked without any issues.

The only issue i have now is that the servo is not running smooth anymore since i reinstalled LCNC and the ethercat drivers, no idea where that is coming from, but i think i read in another thread that there is a solution to that just got to find that thread again.

I can share the ini hal and xml if anyone needs that.

EDIT:
I dont think that the difference from the A6 to the EL8 is that big, both are CIA402 so both should work with the same homemod etc., correct me if i am wrong?