For my Mitsubishi drives it is setup like this in HAL you would need other signals than my nyx.0... Maybe just 'setp halui.joint.0.set-homed TRUE' and forget about the unhoming if you don't have corresponding signals from your drives :
Code:
# set homed flag if absolute position is valid
net x-absolute halui.joint.0.set-homed <= nyx.0.servo-00.abs-ok
net y-absolute halui.joint.1.set-homed <= nyx.0.servo-01.abs-ok
net z-absolute halui.joint.2.set-homed <= nyx.0.servo-02.abs-ok
net a-absolute halui.joint.3.set-homed <= nyx.0.servo-03.abs-ok
net b-absolute halui.joint.4.set-homed <= nyx.0.servo-04.abs-ok
net c-absolute halui.joint.5.set-homed <= nyx.0.servo-05.abs-ok
# unhome axes on absolute position loss
net x-abs-lost halui.joint.0.unhome <= nyx.0.servo-00.abs-lost
net y-abs-lost halui.joint.1.unhome <= nyx.0.servo-01.abs-lost
net z-abs-lost halui.joint.2.unhome <= nyx.0.servo-02.abs-lost
net a-abs-lost halui.joint.3.unhome <= nyx.0.servo-03.abs-lost
net b-abs-lost halui.joint.4.unhome <= nyx.0.servo-04.abs-lost
net c-abs-lost halui.joint.5.unhome <= nyx.0.servo-05.abs-lost
[edit]
As for your soft limits issues, you have this in your ini:
Code:
[AXIS_Z]
MIN_LIMIT = -1200
MAX_LIMIT = -400
So if your z axis is set to 0 your off limits and the system is telling you to press the "$" key on the keyboard to switch to "joint mode" to be able to jog.
Maybe it all resolves after you have your homing set up correctly.
