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thanks, yeah I think that is the problem. Sorry again to ask: Should this value be positive or negative in my case, where the machines homes on the min X/ Y side (and switch is on the moving gantry) --

I assumed negative as the HOME_OFFSET specifies the position of the limit switch in relation to the actual home position. Is that correct?

Enter these numbers in your var file...

kcjengr.github.io/probe_basic/probe_basic_parameters.html

You need to update the var file parameters, also in the docs.

I'm not sure what you mean about the tool table and the rack the rack stores tools the tool data is stored in the tool table. The rack holds whatever tools you put in it they don't have to be in order it tracks them persistently as long as you have the var file set up. When a tool is loaded from the rack and you use the offset for stored in the tool table everything works as expected it works perfectly fine with cheat code. You call the tool not the rack number.

I'm developing a feature that is called "admittance control", it's a method to control motor base on external force.
The system workflow is:

External force (from ft sensor)-> admittance module (100Hz update rate) -->joint cmd--> simple_tp/limit3 (1Khz) -> ethercat -> driver motor

The admittance module will convert external force to joint-cmd to control motor. Everything look fine except vibration at low speed like this chart

 

The velocity input look fine but the output velocity-cmd (derivative from position) is not smooth at low speed. Is this problem come from simple_tp/limit3 component? I look at linuxcnc code note and see cubic interpolator is using. Should i rewrite a cubic interpolator to replace simple_tp/limit3 or try to increase admittance update rate to 1 Khz and skip interpolator?