Category: EtherCAT
Thanks for sharing your success. I am about to start again for the third time. I keep trying to add extra stuff in. The first time, my work was obsoleted as the homecomp template was massively changed. Before I started, I did work out that the cia402.comp would never work and at that time changes to homing.c were required.
The homecomp is a very simple but we keep trying to use cia402.comp that as written before custom homing was introduced and was based on drive that homed to index.
I did try building cia402.comp into the homecomp but that was the one that was obsoleted. I don't think it would work because the homing loop sits outside the lcec loop so it will be one step behind.
I think the best architecture would be to rewrite cia402.comp so it did everything with the drive except homing (inside the lcec loop) and then everything to do with homing was done in the homecomp.