Category: EtherCAT
I dont think, that is possible.
If you wire the switches to the servo drive, you can use one of the drives internal homing methods. They allow a combination of home switch and encoder zero position. That will give you very high repeatability.
If you dont wire the switches to the servo drive, you are forced to the linuxcnc internal homing. Same with limit switches. This will reduce your repeatability to the repeatability of the home switch (you will need high precision home switches).
However if you use the servos internal homing in a gantry setup, you have to wire both gantry drives to the same switches. Servo based homing does not know about the mechanics of your gantry. You do not want two servos fighting each other and bending something.
Also maybe limit the torque during homing (PDO 6072)
