how to -- Homing two motors one axis

# kinematics loadrt trivkins # trajectory planner loadrt tp # motion controller, get name and thread periods from ini file loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD base_period_nsec=[EMCMOT]BASE_PERIOD num_joints=[KINS]JOINTS kins=trivkins tp=tp loadrt picnc #loadrt mux2 count=2 #loadrt encoder num_chan=1 loadrt gantry count=1 personality=2 #newinst gantry gantry.0 pincount=2 addf picnc.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf picnc.update servo-thread addf picnc.write servo-thread addf gantry.0.read servo-thread addf gantry.0.write servo-thread #loadrt thc #addf thc servo-thread loadrt not count=1 addf not.0 servo-thread #addf not.1 servo-thread #******************encoder********************* setp halui.feed-override.count-enable true setp halui.feed-override.direct-value true setp halui.feed-override.scale 0.01 #net enc-a picnc.enc-a => encoder.0.phase-A #net enc-b picnc.enc-b => encoder.0.phase-B #net enc_s32 conv-s32-float.0.in <= encoder.0.counts #net ext-fork0 mux2.0.in0 <= conv-s32-float.0.out #net enc-btn picnc.enc-btn => mux2.0.sel #net ext-fork halui.feed-override.counts <= encoder.0.counts net spindle-cmd-rpm <= motion.spindle-speed-out net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs net spindle-cmd-rps <= motion.spindle-speed-out-rps net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs net spindle-at-speed => motion.spindle-at-speed #net spindle-cw <= motion.spindle-on net coolant-flood <= iocontrol.0.coolant-flood net coolant-mist <= iocontrol.0.coolant-mist #rafal net coolant-flood => picnc.out1 net both-x <= picnc.axis.0.home net home-y <= picnc.axis.1.home net home-y1 <= picnc.in1 net home-y2 <= picnc.in2 net both-z <= picnc.axis.2.home net power picnc.in4 => picnc.out2 #net probe-in <= picnc.in.probe net float-switch <= picnc.in.float net net-estop-ext-not not.0.in <= picnc.in.stop net estop-ext <= not.0.out net torch-probe motion.probe-input picnc.in.probe # spindle on starts the arc net spindle-on motion.spindle-on => picnc.out0 #net spindle-on thc.torch-on # starts the motion when the plasma arc has transfered to the work net start-motion-input <= motion.digital-in-00 <= picnc.in.arc-ok net spindle-on => picnc.float_as_stop setp picnc.axis.0.scale [AXIS_0]SCALE setp picnc.axis.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL net xpos-cmd axis.0.motor-pos-cmd => picnc.axis.0.position-cmd net xpos-fb picnc.axis.0.position-fb => axis.0.motor-pos-fb net both-x => axis.0.neg-lim-sw-in net both-x => axis.0.pos-lim-sw-in net both-x => axis.0.home-sw-in setp picnc.axis.1.scale [AXIS_1]SCALE setp picnc.axis.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp picnc.axis.2.scale [AXIS_1]SCALE setp picnc.axis.2.maxaccel [AXIS_1]STEPGEN_MAXACCEL #setp gantry.0.search-vel [AXIS_1]HOME_SEARCH_VEL net ypos-cmd gantry.0.position-cmd <= axis.1.motor-pos-cmd net ypos-fb gantry.0.position-fb => axis.1.motor-pos-fb net joint-cmd1 gantry.0.joint.00.pos-cmd => picnc.axis.1.position-cmd net joint-cmd2 gantry.0.joint.01.pos-cmd => picnc.axis.2.position-cmd net y1pos-fb picnc.axis.1.position-fb => gantry.0.joint.00.pos-fb net y2pos-fb picnc.axis.2.position-fb => gantry.0.joint.01.pos-fb net home-y axis.1.neg-lim-sw-in => axis.1.pos-lim-sw-in net limit-y gantry.0.limit => axis.1.neg-lim-sw-in => axis.1.pos-lim-sw-in #net home-yg gantry.0.home => axis.1.home-sw-in net home-y1 => gantry.0.joint.00.home net home-y2 => gantry.0.joint.01.home # position command and feedback # hijack position command and feed through thc #net zpos-cmd thc.z-pos-in <= axis.2.motor-pos-cmd #net thc-pos-cmd thc.z-pos-out => picnc.axis.3.position-cmd #net zpos-fb axis.2.motor-pos-fb <= thc.z-fb-out setp picnc.axis.3.scale [AXIS_2]SCALE setp picnc.axis.3.maxaccel [AXIS_2]STEPGEN_MAXACCEL net zpos-cmd axis.2.motor-pos-cmd => picnc.axis.3.position-cmd net zpos-fb picnc.axis.3.position-fb => axis.2.motor-pos-fb net both-z => axis.2.neg-lim-sw-in net both-z => axis.2.pos-lim-sw-in net both-z => axis.2.home-sw-in net estop-out <= iocontrol.0.user-enable-out #net estop-out => iocontrol.0.emc-enable-in net estop-ext => iocontrol.0.emc-enable-in #setp picnc.out.enable 1

[EMC] MACHINE = plasma DEBUG = 1 [DISPLAY] DISPLAY = axis EDITOR = gedit POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 1.5 INTRO_GRAPHIC = start-linux.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/mk/Desktop/gcody/ INCREMENTS = 5mm 1mm .5mm .1mm .05mm #PYVCP = adc.xml #PYVCP = plasma.xml [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 BASE_PERIOD = 100000 SERVO_PERIOD = 1000000 [HAL] HALFILE = MF70.hal POSTGUI_HALFILE = [TRAJ] AXES = 3 COORDINATES = X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 100 MAX_LINEAR_VELOCITY = 400 [EMCIO] EMCIO = io CYCLE_TIME = 0.010 TOOL_TABLE = tool.tbl [AXIS_0] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 400.0 MAX_ACCELERATION = 1000 STEPGEN_MAXACCEL = 1200 SCALE = 88.52 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -1600.0 MAX_LIMIT = 1600.0 HOME_OFFSET = 0.0 [AXIS_1] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 400.0 MAX_ACCELERATION = 1000 STEPGEN_MAXACCEL = 1200 SCALE = 76.08 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -3100.0 MAX_LIMIT = 3100.0 HOME_OFFSET = 0.0 [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 25.0 MAX_ACCELERATION = 1250.0 STEPGEN_MAXACCEL = 1562.4 SCALE = 400.0 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -90000.0 MAX_LIMIT = 1400.0 HOME_OFFSET = 0.0