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Do what Hevy said. Hevy is friend
but yes. summon him at the gargoyles and O&S and grab the sunlight maggot, and you should be fine, he should end up at the sunlight altar.
Arguably, I'd say the ending in which he dies is distinct enough that it counts as a "proper" questline end rather than a "you ♥♥♥♥♥♥ up, better luck in NG+ lol" type of end, like in the other questlines.
So I'll add that if you want to see his alternate "bad" ending, you'll have to meet him the first time in the Undead Burg, then a second time in Anor Londo (optional), then at his altar back at the Burg, under the Hellkite Dragon.
After that, go straight to Lost Izalith without bothering about picking up the Sunlight Maggot, and you'll get his "bad" ending. Otherwise, do what Chad says and get the Sunlight Maggot from the Chaos Servants shortcut before going to Lost Izalith.
Uhh, I realize this is yet another contradictory answer, but as far as I know, you don't actually need to summon him for any of the fights. I don't remember summoning him, at least, and I see no mention of it on the wikis. Just the very last one, maybe, for a "nice" conclusion to his questline, should you go for the "good" ending.
He is always a great help for the fights, so I would recommend doing it