HI
I managed to solve the homeing issue mentioned below by specifying another axis and joint in the ini file, but i omitted it in the [TRAJ] section so it doesnt show in the gui. I now have XYZABC, joints 0-5, but in TRAJ section it is XYZAC. This results in the correct joint being selected when the Gscreen button is clicked (for C axis) or my rotary switch is at the C axis position.
I have not spent time on the other issue below yet, but will get to that soon.
