The problem disappeared when I moved the ini file to a separate folder.
Now the position is read from the drives at startup and HOME_ALL applies joint offsets.
There are some inconvenient things, though:
1. To change the offsets, HOME_ABSOLUTE_ENCODER should be set to 0 for all joints. And then set back to 1 or 2.
2. Homing is not automatic. But that can be set up in HAL, I guess?
