Technical questions about CIA402 and homecomp.comp on A6

@Andrax
I’m currently restructuring my CiA402 integration to make it more modular and deterministic before going back to real EtherCAT hardware. My goal is to formalize the state handling and timing assumptions first, instead of patching behavior incrementally.

I think studying industrial PLC CiA402 homing FBs is a good idea conceptually. Even if the source code is compiled, the documented state diagrams and the Execute/Busy/Done/Error behavior usually define the real logic contract.

If you have access to an EtherCAT PLC with CiA402 homing FBs, could you share the documented state diagram or the Execute/Busy/Done/Error sequence? That would help us model a proper state machine for LinuxCNC.

I plan to open a separate thread focused specifically on formalizing the homing state machine. If you're interested in contributing your PLC perspective there, I think that would be very valuable.

No, I haven't.I posted a query about this on the German sps forum. The response was arrogant, and I don't expect any help.We're on our own. If you have working code to test, I'd be happy to help

Can someone give an update on the current (October 2026) status of homing with the Stepperonline A6 drives?

I got my servos moving and roughly tuned, but haven't been able to get homing working.
I tried to follow some of the cia402_homecomp examples, but I just get a following error immediately when starting homing. What are the exact pin-connections needed with cia402_homecomp?
FWIW I plan to use the negative limit switch + forward movement to next index method - not that the exact method for homing should matter much for getting this working..