Homing and optimisation issues, massive ferror, help!

i tried it with sane values and it is possible to home it, doesn't really make much sense though.

Sorry for not responding sooner, haven't had time to give it another shot. I'll try fiddling with the .ini again. What do you mean by "doesn't really make much sense"?

there is nothing to home. joint coordinates are already absolute. if you configure home switch position to something different than the comparator there will be problems.

Well, I suppose you're right. But we still have to know how to do it, it's just for practise. The professor is big into DIY CNC machines, half of the stuff in the lab are DIY.

On the plus side, we seem to have found what was wrong. I had the entire Hal schematic planned in a notebook, and had wired everything correctly EXCEPT I'd forgot the feedback INTO the pid.0/1.feedback. And I clearly have it in writing. And I was so sure my Hal was ok.

Anyway, should be smooth sailing from now on.