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Description
Hello,
ive been experiencing what appears to a bug in the HOME_ABSOLUTE_ENCODER parameter.
Expected Behaviour with HOME_ABSOLUTE_ENCODER set to 2:
Lcnc reads encoder value when homing, then adds/removes HOME_OFFSET and sets current joint position.
What is happening instead?
Lcnc appears to be reading the current joint position instead of the encoder value. This means, that the offset is applied over and over if you home more than once for example. According to the docs, a request to re-home is silently ignored. It is not. In my tests in AXIS sim, its only asking me to continue as the joint is already homed. it still adds the offset ontop so the position shifts on a software side.
Tests were made in LCNC 2.9.4, with now updated 2.9.8. Both versions appear to have this issue.
I have yet to try Mode 1, as its not my preferred way of homing.
Steps to reproduce:
- Set HOME_ABSOLUTE_ENCODER to 2
- Set position.txt file joint position
- set home_offset parameter
- Home machine and see how the current position changes according to the offset.
- Home again, the position changes again.
According to tests made by a 3rd party, it also happens on real hardware with absolute encoders.