These are the first obvious problems I see in the INI file. (I haven't looked real close at the hal file yet.)
To start with in your ini fine I think [KINS] section needs changed to
Code:
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYZY
Then In your joint sections, the joints that you have slaved together, need to have the HOME_SEQUENCE set to matching
negative numbers. The negative is important, it indicates joints that are to home in a slaved fashion.
The joints are homed in the order specified by the absolute values of the HOME_SEQUENCE numbers. On a mill or router it is generally best to home the Z axis first, to get it up and out of the way. So for your config I'd suggest using home sequence values of Z=0 X=1 and Y and Y2 = -1 or -2 (I usually home my X and Y at the same time). If X=1 and the Ys=-1 X and both Ys will home at the same time but the Ys will home slaved together. and wait for each other at the limit switch and any changes of direction. (If the Ys and X can't home at the same time for any reason, such as shared switch inputs, then use -2 for the Ys.)
Finally, I am not certain if this will cause a problem, but I highly recommend putting all of the joint/axis sections in the numerical order of the joints. I think how it is now with Y2-Joint3 before Z-Joint2 could cause problems.
