I am doing a home to hard stop routine but there is a scenario where the bus voltage can drop out (estop condition) which causes the motor to detect a following error even though it hasn't hit a hard stop.
The two options I can think of to fix this is to monitor the bus voltage or wire an input that the routine can monitor to capture this.
It's easy if you can spare an input to monitor the E-Stop circuit... otherwise ...monitor the low bus voltage. Also... You can set a bit after homing that can be checked in your code.
