ABB IRB 6400 retrofitting

Hi, I managed to control the robot with the custom stmbl and linuxcnc, but I was wondering if it is possible to skip the homing procedure having the position.txt file and the resolver of the stmbl, similarly to  #116065 .

There is someone that already solved this problem or should I investigate more?

I though maybe I have to apply an offset to the feedback inside the stmbl in order to center the zero in the home position, then multiply the sserial0.scale with the position in the position.txt, and replace decimals with the resolver + offset value in stmbl? (considering if decimals are >0.5rev then position=int(position)-1+resolver_read).
Moreover I have to apply an offset of -90° to the joint 2 because of the DH params, maybe that can be a problem?

[edit] Actually, rereading your post, I'm not sure if you are looking for specifics using the homing solution as proposed by andy in the linked post or if you are looking for alternatives.
 

I would like to use the stmbl position feedback as absolute resolver (in the machine the resolver are attached to the motor, so they are not absolute in term of joint). Then homing would be just applying an offset without moving the machine.
I'm just interested knowing if this problem has already being solved or not.

Ah, I think Andy would be the man to answer this then.

Ok I'll wait for Andy then

I created this new topic since the question I think deserve it's own.