StepperOnline A6 Servo

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:
linuxcnc.org/docs/devel/html/man/man9/homecomp.9.html

I'm not surprised I misinterpreted the intent of that pin.  The current state of in-drive homing code and documentation makes it a bit of an "adventure!"

TangentAudio wrote:

I'm not surprised I misinterpreted the intent of that pin.  The current state of in-drive homing code and documentation makes it a bit of an "adventure!"

Yes, it is confusing. I tried to use joint.N.is_custom-homing to trigger the cia402 homing input but hal complained about the pin type so had to add a pin of type IO (joint.N.start-homing). I think I could sense homing is done when it is set to zero. But I am getting ahead of myself

I made my own version of the CIA402 and custom home components for the A6 servo and put it on github -> github.com/CollinBardini/linuxcnc-a6-servo
The custom home component writes to a signal called "start-cia-homing" (from Rod's implementation), which kicks off homing in the CIA402 components. The CIA402 component then handles starting homing by writing to controlword and operation mode. While the servo is homing, the home component monitors the statusword until homing is complete.
I made it as barebones as possible to help others get started. I will write a README when I get time. For now, Rod's README is a good starting point.

      Hello, I finally managed to get Linux CNC to start with the HomeComp, but the servos aren't switching to OP mode. I've already tried to find the problem myself, but to no avail. In the folder "Drehmaschine_backup" is my first configuration, with which the motors already worked, but without homing. In the folder "Drehmaschine" is the new configuration with Homecomp.

After having a functional setup for my Beckhoff modules I tried to combine my files withe the ones from MobiusToast to tryout the settings for one of my servos. He mentioned that the files are working for him an that the one axis would at least be moveable. 
Surprisingly I have no errors when starting but the servo stays in PreOP and the axis or the motor is doing nothing when jogging the axis.
What could be missing or what could be my mistake(s)?

if the drive is in PREOP, it would not move. There is some kind of error. It should be described in dmesg

I throw this here because someone will need it, they removed it from the product page: software stepperonline OMC A6 help.stepperonline.com/en/article/how-to...series-servo-edqavw/

I made some comments on this in another thread about the PDO configuration, you are correct, internally it does configure the PDO's and sets the PDO assignment register ONLY if you set configPdos="true".

forum.linuxcnc.org/ethercat/56205-help-w...ives?start=20#338949

Where should we move the above reply to?