Curt Wilson

There are several ways of doing this. I think the easiest for you is to use the PSET (buffered program) command after homing. That is, complete the homing search move, then give a command like: PSET X-250 This will change the value of the associated Motor[x].HomeOffset parameter, as Sanjay suggested.

I've never understood why the C math library does not include the sgn function. We made sure to include it in the Script library because of its usefulness (which doesn't help you here, of course). We had to do the branching logic for the friction feedforward implementation.