Technical questions about CIA402 and homecomp.comp on A6

The mindset should be that the drive decides.
The component can only ask the drive to do things like switch op-mode, start homing, etc
for the rest the drive must react to every status condition that comes from the drive.

There are other circumstances when the position feedback can be out of sync with linuxcnc joint commanded position.
A spindle running in PV mode as a spindle motor, switching to csp mode as an axle comes to mind.
The component handles and offset in such a case.

Ihave a new component in progress that is designed to address many if the things you raise home jump, pv mode etc. be patient as i had to put it aside for a while