From b7914b469cbfe6caf3e1be947439e20fc5da9825 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Robert=20Sch=C3=B6ftner?= Date: Sun, 1 Feb 2026 23:34:21 +0100 Subject: [PATCH] Update homing.c fix multiple homing of absolute encoders #3717 --- src/emc/motion/homing.c | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/emc/motion/homing.c b/src/emc/motion/homing.c index df928e9cd56..65459e792e5 100644 --- a/src/emc/motion/homing.c +++ b/src/emc/motion/homing.c @@ -1128,6 +1128,10 @@ static int base_1joint_state_machine(int joint_num) /* set the current position to 'home_offset' */ if (H[joint_num].home_flags & HOME_ABSOLUTE_ENCODER) { offset = H[joint_num].home_offset; + joint->pos_cmd += joint->motor_offset; + joint->pos_fb += joint->motor_offset; + joint->free_tp.curr_pos += joint->motor_offset; + joint->motor_offset = 0; } else { offset = H[joint_num].home_offset - joint->pos_fb; }