Please help me get this Homing Sequence Right

eighthaxis wrote: I still need to figure out how to get the rotary index's A and B to be scaled correctly.

You should just need to set the INI parameters

[JOINT_3]ENCODER_SCALE
and
[JOINT_4]ENCODER_SCALE

correctly.

The number you need is the number of step pulses per degree.

Whats the encoder resolution on the rotating axis and is there any drive reduction? Basically figure out the number of encoder pulses in a complete rotation and divide by 360

Should look something like (encoder ppr x gear reduction)/ 360

2000ppr encoder with 2 servo revolutions to 1 axis revolution is scale of 11.1111

Thank you all for your help.
Especially you Michael.
I am able to Autohome now and I have the rotary axis' working with the proper ratios.
I need to keep working on Servo Tuning next to get everything working smoother and faster.
Then the most daunting task of getting the Toolchanger working with the Andy's Carousel program.

Your welcome. I think everyone was saying the same thing, I was just dumb enough to break it down to a more digestible level. Hope you have some hair left for servo tuning. That was the most frustrating part for me. But you'll get through it and it will make ATC seem like cake.