Had a quick look. I'm really out of my depth here (again) but I'll take a stab anyway. This seems to come from the bowels of halui.cc and, if I'm looking at the right thing, it seems to want to send an mdi command while it's not in MDI mode? Not sure what "%d" stands for.
This is from axis.py and it seems to use MANUAL mode when homing all joints:
I wonder if it's trying to run the MDI command (o714 call) while doing the 'home_all_joints' thing.
[edit]
Maybe comment out the line 23 in your .hal and try again just to be sure:
Code:
# net x-is-homed-dly <= delay.homed.out => halui.mdi-command-00
If that makes the problem go away, you could uncomment line 23 again and try to increase the delay for calling the MDI command (.hal, line 19):
Code:
setp delay.homed.on-delay 2.0
to something like this:
Code:
setp delay.homed.on-delay 10.0
If that works you could then lower the delay again to find the minimal delay necessary.
[edit again]
Just noticed we seem to have the wrong axis on .hal lines 22,23:
Code:
net x-is-homed <= halui.joint.0.is-homed => delay.homed.in
net x-is-homed-dly <= delay.homed.out => halui.mdi-command-00
shouldn't we be using this (since Z is the last to home):
Code:
net z-is-homed <= halui.joint.1.is-homed => delay.homed.in
net z-is-homed-dly <= delay.homed.out => halui.mdi-command-00
So maybe if you change this then all will be resolved.
