How to use linuxcnc with a real robot equipped with a absolute encoder ?

Hi,
In linuxcnc,before to execute any G code the machine must be homed.
But for a robot with absolute encoder home is not needed , so how can I
deal with this home issue.
I mean after turn the machine on. How can I execute G code directly?

Don't you just set NO_FORCE_HOMING?

Many thanks! Can't wait to try this out!

Ooops. It doesn't works as I expected.
take config : sim>axis>vismach>puma.ini for example:
After add NO_FORCE_HOMING=1 in Traj section,
When I want to switch to MDI mode or exectue G code ,
the AXIS gui tells me all joints must be homed before going into coordinated/teleop mode .

And I add a print line in the emctaskmain.cc file , the variable no_fore_homing is 1.

So where could be the problem?

yet how could linuxcnc know the initial joint position of the robot, if not homed?

I just tried and it works (I can start gcode execution without homing)

ok,maybe something wrong with my config
I am in a rip environment and using like branch 2.8.0~pre1
how about yours?
Thanks again.

same, spelling error?
not editing the right file?

I am in a rip environment and using like branch 2.8.0~pre1

It is always important to state the branch.

For this development branch (git master) you will probably need to use the provisions for
absolute encoders as specified in the ini file:
Ref: linuxcnc.org/docs/devel/html/config/ini-...ome_absolute_encoder


(It looks like ([TRAJ]NO_FORCE_HOMING does not apply for non-identity kinematics
in the motion module even though task accepts it: Ref: github.com/LinuxCNC/linuxcnc/blob/677dc9...otion/command.c#L609

Actually I am not sure about my branch.
And the absolute encoder option you pointed out works! No need to move the robot, although press home button is needed.

And do you have any idea how to move robot in joint space using G code or some other work programming language than can interface with linuxcnc ?