Execute after homing... AUTORUN METHOD

I built a little robot arm, and when it homes, the G53 locations have it facing 50 degrees backward, at the end of travel, etc.
In my ROUTINES folder there is a program firstrun.ngc that automatically loads because the INI file has the line...

Open_File = ROUTINES/firstrun.ngc

I home the robot and then click the cycle start (play) button.

I'm wondering if the postgui file or similar could have a command that basically says, "Home then run firstrun.ngc"
This file moves it to a PRESET-1 position then uses G10 L20 P0 to set the G54 home where I want it.

It would just be nice if I could hit HOME, have it go a typical home... then execute a file.

Is this possible??

Jerry

1. Have you tried using 'HOME_OFFSET' to get the home position to where you want it?
2. You could use an MDI_COMMAND to call a subroutine and connect 'motion.is-all-homed' to the MDI_COMMAND

I have used the Home Offset... it's odd.. and I have not experienced it before... but when I made the first axis (A) have a home offset of 50, it went exactly where I thought it would... but then the (A) axis homed in an opposite direction. I don't know why.

My mills... (Monster Mill), (Frankenlab), and (Laguna) all have home offsets. This is the first time I've wired up a 5 DOF robot arm. I will experiment with that more... been out of town over a week now... just got home.

But I had not thought of linking the motion.is-all-homed to an MDI Command... very clever. I'll probably play with that now. It offers more options than the offsets... running routines to check inputs... probe functions, etc... all at the start.

Not sure exactly what I'll do other than the preset location at this time... but yeah... very cool idea.

Thank you!
Jerry

Update: I could NOT find the signal for all homed... or any variant of it. I can find individual axis... but not "all".

halui.home-all bit in
REF:  linuxcnc.org/docs/stable/html/man/man1/halui.1.html#Homing

motion.is-all-homed
linuxcnc.org/docs/2.9/html/man/man9/motion.9.html#MOTION%20PINS

RODW -> The pin you specified requests the machine to home, not return when homed.

ACIERA ->

I put a line in the custom_postgui.hal file...  <= motion.is.all.homed but when I run it, I get the following...

Debug File Information:
custom_postgui.hal :70: motion.is-all-homed does not exist.

The text you referred to says it should exist... but it's not there. I may have to save my configuration and update...
this is Axis 2.7.14 on this machine.