Category: EtherCAT
Can you guys review this and see if you agree?
Yes, that is correct. The idea is that we can set the homing type (ie one of the built in procedures or custom procedure) for each joint.
As described in the manpage:
This module creates input hal pins joint.n.request-custom-homing that enable an alternate joint homing state machine for requested joints. A hal output pin joint.N.is_custom-homing verifies selection"
