switching between world mode and joint mode

I have got my Mesa 5i25 card going well, I have gmocappy Going well (may swap back as I don't have a touchscreen) and I also have my HB04 pendant going mostly well, the only button that gives an error is the home all button which I like to use after a program is finished so the router is out of the way, however I get the error 'must be in joint mode to home' so the question is, how to I switch from world mode to joint mode? and is there a good explanation of these modes
This is the line in my xhc-HB04.hal file # Home button
net home halui.home-all <= xhc-hb04.button-home

Moved to Gmoccapy section.

Sorry tommylight, wasn't sure where this question fitted

What version of LinuxCNC are you using?
I use gmoccapy with linuxcnc master and also use an external button that connects to halui.home-all. Works fine for me.

from uname -a I get..
Linux linuxcnc 4.19.0-9-rt-amd64 #1 SMP PREEMPT RT Debian 4.19.118-2+deb10u1 (2020-06-07) x86_64 GNU/Linux

Is linuxcnc Master something I should have?

what is the specific command you use? mine is from xhc-hb04.hal
# Home button
net home halui.home-all <= xhc-hb04.button-home
thanks for the response

ericg wrote: Sorry tommylight, wasn't sure where this question fitted

No worries, all good, also wanted to bump it up as no one answered.

If you have kinstype=Both in you INI config you should see a button to switch the joint world mode.
If you have keyboard handling enabled on the setting page, F12 should change modes.

If you post your config folder, I can check for config errors.

Norbert

Like this:

I mention it here, because it is currently not really mentioned in the documentation.