5 Bar Parallel Kinematics

Hey all,

I'm working on a 5 bar parallel robot setup.  Something similar to this.   5Link Robot

I cant seem to find if that person had a repo or config they shared. So as far as I know the kinematics need to be created so I have been taking a stab at that and have something to test.  At the same time the hardware I'm testing with are the Beckhoff 7041 stepper cards.  I have two nema 17 motors connected to the 7041's and have LCNC connecting to them with no issue.   The problem I'm having is homing.   I don't have any home switches setup right now.  Because of the kinematics I cant home at 0,0  I need to home in a position that fits in allowable space.  I have the joints setup So they home immediately. Hove Search and Latch Velocities = 0 along with Home = 0 I did set the Home offset to the positions I want the joints to be considered at.  When i fire up axis and home the joints Joint zero starts running away limited to the value I set in Ferror. I'm confused if i have a hal problem with the Ethercat setup or if something else is at play as my understanding is that the joint should not cause motion and be set as home with an offset of 60.  What May I be missing?   

I was thinking that but If I watch X and Y or j0 and J1 Position and Position feedback pins in Hal with the following error cranked up I can see it actually home and the values stop but the physical motors just keep rolling coal so to say. It's like Linux cnc think everything is fine but the stepper modules never got the message to stop. Even looking at the Ethercat pins, lcec.0.D2.srv-cmd pin stops when home is set but motors still spinning. Also swapping Kins back out to trivkins shows the same behavior during homing. That's why I was wondering if it's something to do with the ethercat setup perhaps?

Found my issue. The internal encoder parameter is not getting set properly on the 7041's In my XML config file I have the encoder modparm set to false but when i open a terminal after axis has started up and check the parameter using "ethercat -p upload --type uint8 0x8012 0x08" it shows it as zero instead of 1. I suspect something in the driver code is not jiving with the revision of the modules i have. When I set the parameter manually after axis has opened up. The simulated encoder feedback is updated on the pins as it should be and all is well.