scorbot-er-3

Yes it has homing switches please see attached photo.
I will try what you suggested and let you know.

Thank you everyone I now have it working, and am in the process of adding a Logitech dual action F310 controller as a pendant.
 The Scorbot-ER_3 limit switches needed readjusting using MOTOR TEST, on the Eshed Robotic control box with the Arm repositioned close to home.
For anyone trying this here is what was done:
Slammed the Dell Optiplex 9010 with ALL accessories attached and turned on with NO internet. Launched LinuxCNC and selected other machines Scorbot-ER-3 adding an icon to desktop.
In LinuxCNC Terminal typed:
"sudo nano /usr/bin/scorbot-er-3"
changed
"/usr/bin/scorbot-er-3", line 40 from this:
serial.write(data)
to:
serial.write(data.encode())
and saved
Next in terminal typed:
halrun
loadusr -W hal_input -KRAL Dual
loadusr halmeter
tested the Dual Action F310 controller 
Then typed:
Quit
Exit
Opened LinuxCNC Scorbot-ER-3 icon and in the "Machine" tab selected input "0" and typed in "loadusr -W hal_input -KRAL Dual" then execute. Closed tap and reopened and tested the Logitech dual action F310 controller Pendant input signals.
Had to readjust the limit switches on the bot again for homing.
.  Next is calibration and editing the Scorbot-ER_3 hal to use the Logitech dual action F310 controller as a pendant.
It does run the supplied "LINUXCNC" example but very tiny letters. Also there is a gripper slide in the main LinuxCNC screen in the upper right corner that works using the mouse, not sure how to add to the G-Code yet or the Logitech Pendant which does not have Analog output. I tried to attach a video but was unable.
Again thanks for all of the help

Please has anyone been able to use a Logitech Dual Action F310 controller as a pendant for a Robotic Arm? I am running LinuxCNC 2.9.2 and are able to get the Mill working with the F310 as a pendant, but not my Scorbot-ER-3 robotic arm. Please help

If anyone is interested I now have a Logitech Dual action F310 controller working as a pendant in LinuxCNC for the Scorbot ER 3 Robotic Arm. I can post if anyone is interested.

To get the Logitech Dual Action F310 controller to work as a Pendant for the Scorbot-ER-3 using LinuxCNC 2.9.2, after making previous changes mentioned earlier in this forum, do the following:

Open the "scorbot-er-3.hal" file in the /linuxcnc/configs/by_machine.scorbot-er-3/ folder and add these 2 lines (after the "loadrt differential" line);
loadusr -W hal_input -KRAL Logitech
loadrt mux16 names=jogspeed

then add (after the "addf differential.0 servo-thread" line):
addf jogspeed servo-thread

save and close the file.

next open the pyvcp.hal file and add the following (at the bottom):

#******************************
# connect miscellaneous signals
#******************************

# ---HALUI signals---

net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.is-homed
net axis-select-a halui.axis.a.select
net jog-a-pos halui.axis.a.plus
net jog-a-neg halui.axis.a.minus
net jog-a-analog halui.axis.a.analog
net a-is-homed halui.joint.3.is-homed
net axis-select-b halui.axis.b.select
net jog-b-pos halui.axis.b.plus
net jog-b-neg halui.axis.b.minus
net jog-b-analog halui.axis.b.analog
net b-is-homed halui.joint.4.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi


# ---USB device jog button signals---

# connect selectable mpg jog speeds
net jog-speed-a => jogspeed.sel0
net jog-speed-b => jogspeed.sel1
net jog-speed <= jogspeed.out-f
setp jogspeed.in00 150.000000
setp jogspeed.in01 300.000000
setp jogspeed.in02 600.000000
setp jogspeed.in03 1200.000000
net jog-speed-a <= input.0.btn-base
net jog-speed-b <= input.0.btn-base2
net jog-x-pos input.0.abs-hat0x-is-pos
net jog-x-neg input.0.abs-hat0x-is-neg
net jog-y-pos input.0.abs-hat0y-is-neg
net jog-y-neg input.0.abs-hat0y-is-pos
net jog-z-pos input.0.abs-rz-is-neg
net jog-z-neg input.0.abs-rz-is-pos
net jog-a-pos input.0.abs-y-is-neg
net jog-a-neg input.0.abs-y-is-pos
net jog-b-pos input.0.abs-x-is-pos
net jog-b-neg input.0.abs-x-is-neg
net Pgm-run <= halui.program.run <= input.0.btn-thumb
net Pgm-stop <= halui.program.stop <= input.0.btn-thumb2
net Pgm-pause <= halui.program.pause <= input.0.btn-top
net Pgm-resume <= halui.program.resume <= input.0.btn-trigger
net Pgm-step <= halui.program.step <= input.0.btn-base4
net Estop-activate <= halui.estop.activate <= input.0.btn-base3

save the file.

Special note: The Pendant will not work until you home the Scorbot-ER-3. After Homing the coordinates will change to cartesian coordinates (X,Y,Z,A,. After you make these changes the pendant will work as follows:

The left joy stick controls X, and Y axis.
The right joy stick controls the Z axis.
The D-Pad controls the rotation and turning of the gripper A, and B axis.
The bottom finger triggers control the rate of movement;
nothing 150
left only 300
right only 600
both 1200

Last is the buttons:
Button 9 is estop, if pressed you have to use the keyboard to reset
Button 2 is run G-Code
Button 4 is pause program, press Button 1 to Resume
Button 3 Stop program if if press Button 2 it goes back to beginning and starts
over again
Button 10 you must first press Button 4 this will run the code one line at a time
Button 1 Resume (after Button 4, or Button 10)

I have not yet figured out how to open and close the gripper through the G-Code file or the Logitech F310 Pendant. Only the GUI interface (+ -) works for the gripper.
I hope someone smarter then me can help to figure this out, and add a replay.
Thank You all

If it helps here is the User Manual for the Logitech Dual Action F310 Controller