Using soft limits and physical reference points to home robot arm?

On a related issue, do you recall starting to write a component to manage the compound movement of J5 and 6? I have what looks like an early draft of it and would like to get it working. Happy to figure out the code myself, but am curious about a particular part of it. Should I start a new topic or perhaps message you privately?

Cheers
Ross

Start a new topic, perhaps someone else needs it?

As for the limits, if they click then that excludes the possibility of them being inductive or optical.

Maybe the cables are actually shorted, or one switch it broken, or permanently set?