January release - homing BUG

["Joel Jacobs" <jj-at-spyparts.com>]

Or maybe I don't have it configured right yet ;)

I just got my Mill/Drill /w steppers upgraded to the latest software - I had
been running last march's release with rt2.0.  Thanks for your help Ray!

One of the biggest reasons for the upgrade was that the old software
wouldn't home right - it would go to the switch then back off Homing_Offset
and then slowly step in the same direction very slowly for 15 seconds or so
then stop with a sort of spastic jerk.  Only one axis (X) behaved this way.

With the new software all three axis home fine - they hit the switch, back
off and stop.  The problem is the first move after the home.  The motors
jerk badly and if it's a G0 move they will loose step.  It seems like the
acceleration profile is not being honered.  It has something to do with the
backlash setting, my X is .013 and the Y is .008 and those two axis have
this behavior.  My Z has no backlash and works fine.  It does this even if
the first move is in the same direction as homing_offset - I would have
thought the backlash would already be taken out when it hit the switch and
reversed.

Another observation - I home the X axis then go to MDI and set the feedrate
way down to F1 then G1X.05 - the accel profile is very slow and it stops
before it gets to .05 and then steps v e r y  s  l  o  w  l  y and finally
stops at X.05.

After the first move after the home everything's fine on all axis.  As it
is, it's usable as long as I make a slow manual move first.  It's just a bit
of a pain.  Any help would be appreciated - let me know if you need any
other info and thanks a bunch for making this program!

Joel

Some particulars on my system:
linux 2.2 14 rtl2.2
January RPM release of EMC

and from the ini file:
[TRAJ]
AXES =   3
COORDINATES =  X Y Z
HOME =   0 0 0
LINEAR_UNITS =  0.03937007874016
ANGULAR_UNITS =  1.0
CYCLE_TIME =  0.010
DEFAULT_VELOCITY =  0.16666
MAX_VELOCITY =   0.416
DEFAULT_ACCELERATION = 2.5
MAX_ACCELERATION = 2.5

[AXIS_0]
TYPE =    LINEAR
UNITS =    0.03937007874016
HOME =     0.000
MAX_VELOCITY =   0.416
P = 60.000
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.014
BIAS = 0.000
MAX_ERROR = 1.000
DEADBAND = 0.00005
CYCLE_TIME =   0.00100
INPUT_SCALE =   8000 0
OUTPUT_SCALE = 8000.000 0.000
MIN_LIMIT =   -0.15
MAX_LIMIT =   18.5
MIN_OUTPUT =   -10
MAX_OUTPUT =   10
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL =   0.1
HOME_OFFSET =   0.1
ENABLE_POLARITY =  0
MIN_LIMIT_SWITCH_POLARITY = 1
MAX_LIMIT_SWITCH_POLARITY = 1
HOME_SWITCH_POLARITY =  1
HOMING_POLARITY =  0
JOGGING_POLARITY =  1
FAULT_POLARITY =  1