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Aren't you missing a 'CALL' in line N15082:
 

I have attached my progam with subroutines and cut out much of the program inbetween.  I begin by "homing, clearing all offsets (G10 L2 P1,2,3,4,5,6), G92.1.
Then I load my program which contains 3 subroutines.  My tool position at start is program 0,0,N) N being the top of work what ever the program subroutine calls for.
Hit run and it works beautifully.
Next Engrave operation calls for a tool change and change of Z offset.
This is where it all gets lost.  I change the tool and position it, set g54 Z offset and it takes off for the last G57 position.
Don't honestly know what I am missing.
Also would like to be able to call one of the subroutines out of order and be able to run it.

Thanks for any help in advance
I am determined to get a handle of these subroutines.  I know I'm missing something here. 

If you  scale has periodic index marks you need to coarsely position
the axis before the final home to index (this is usually done with a home switch
but could be done by jogging to a mark and then homing to index)

Ok! I'm really a beginner at this...

My machine homes and the dro goes green on all axis Problem is that it seems to be doing so on some kind of periodic index from the scales, so after homed it has no idea where along the scale it is at the moment... must be missing some important lines in my configs.

I really don't get the dev's why they stay using .comp code, and even worse: promoting it to use.

Nobody is forced to use it. I like the 'comp' format and I do promote it. The point is that it lowers the bar for people who are not C developers to create their own components. There are a lot of components (possibly even 'cia402.comp') that would not have been created if that tool did not exist.


Note that the 'halcompile' tool will actually create a .c file from a .comp file for you, if that is what you want to work with.
linuxcnc.org/docs/html/man/man1/halcompile.1.html

This solved my issue, you saved me a huge headache thank you!

RotarySMPs hal/ini files are from LinuxCNC 2.7 or earlier so before the
AXIS/Joint separation change.

Newer hal/ini files like yours put the homing ini constants in "JOINTN"
sections

I checked the userkins.comp file, found nothing strange, but in userkins.c, it was

int kinematicsForward ...
   ...
    pos->tran.x = j[0]/80; // X coordinate
    pos->tran.y = j[1]/80; // Y coordinate
    pos->tran.z = j[2]/80; // Z coordinate

while in userkins.comp or either of the kinematicsInverse functions, the /80 was not there. I tried compiling again, nothing changed. I tried deleting the /80 from userkins.c, everything is now working. I just have no idea why..

We moved to Ingleburn, not far from Campbelltown, in the very late 70's. At the time they were building a lot of housing commission places, the joys of coming from a "broken home", anyways all the building was causing the snakes to look for new places. Usually the first sign you got was the 2 dauschhunds going off their heads, and sure enough there was some snake or another making themselves at home.
Funnily enough the worst incident we had wasn't a snake bite but 2 of the neighbours' boys decided to sniff glue and start taking shots at each other with slug guns.
"But dad I only shot him in his glue"

On there was also the mattress fire under the house due to one of the neighbours and his girlfriend smoking and having a pash session.

And no I was only 6 or 7 at the time, we were just general menaces, favourite was running through the pond outside the doctors surgery. 40 years later I was working at the railway station when they were doing upgrades at Ingleburn, and yep the doctors surgery and pond were still there. I thought about it, but too many aches and pains to run through it, plus it was pretty cold that day.

Hi Hakan,

At the moment it's here.
But i can not help you with questions at the moment as i have not reviewed the code for a while now.
The ethercat-master is also there. It has different source code to store the xml in memory.
However i think it will run.

I just conversed the cia402.comp to c code .
I really don't get the dev's why they stay using .comp code, and even worse:  promoting it to use.

do you mean for a spindle? haven't looked at it yet.
i would be surprised if servos have velocity control... or do they?

I see you have a userkins module, that one becomes suspicious of course.

I agree, this is most likely a problem with your custom kinematic module. I usually see these kinds of jumps when the forward and the inverse kinematics do not match up.

langdons wrote:

Python does not even have switch statements!
 

It does now since 3.10 
www.reddit.com/r/pythontips/comments/122...s_switch_statements/

Personally I much prefer python over php and Java but C I am much more comfortable with.
It just annoys me that Python can do things in 100 lines that would take 1000 in C

Suddenly a big shift in axis.x.pos-cmd while joint.0.pos.cmd stays? When you shift between MDI and Manual.
The translation between joints and axis is done in the kinematics module but there are more things involved I don't know so much about.
I see you have a userkins module, that one becomes suspicious of course.

You can follow the signals, ms by ms, using the halscope utility.
Maybe interesting to do that when you shift between MDI and manual.

Judging from the halshow output you EtherCAT drives behave as they should. The problem isn't there.
 

Careful now, I grew up 500 miles from the coast and 90 miles from the nearest town! The brown mulga snake I grew up with is supposedly the third most deadly in the world. I tripped over a log once to find one sunning himself under my chest when I landed. We both got a fright, I froze and he took off. Another time, I met one in the house coiled up 2 feet in the air ready to strike at me. Maybe I was about 10. Took me a couple of weeks before I got him with the .22 under Mum's dressing table!

Yet I only ever knew two people who got bitten, both on the foot while riding a horse. One was my grandfather and they had to hit the snake with a stick to make him let go and the other was a young girl about 12, the daughter of a drover. Both lived through the event! I don't think much venom got past the kangaroo skin upper on their RM Williams riding boots!