It is imperative to understand that the machines have two modes of homing
Pressing HOME ALL the machine moves to find the sensors, and applies a temporary home, this homing is lost at machine off, to regain it one MUST press the HOME ALL button again after any Machine OFF event.
The position is quickly reloaded from motor absolute encoders on machine power on, this homing type is more permanent, and it will be reloaded again at next machine on, it is only overrided by a HOME ALL event.
Connect via VNC to the CNC controller. Open a terminal window with from the start menu in accessories then click terminal, or use ctrl+alt+t as a shortcut.
Execute all the the following commands if they give no error message after pressing enter then you typed them in correctly, otherwise press up arrow to bring it back and do modifications.
halcmd unlinkp joint.4.pos-lim-sw-in
halcmd unlinkp joint.4.neg-lim-sw-in
halcmd setp joint.4.pos-lim-sw-in 0
halcmd setp joint.4.neg-lim-sw-in 0
halcmd setp comp.4.hyst 999999999
halcmd setp halio.fb.4.use 0
halcmd unlinkp halio.pos.enable_save
halcmd setp halio.pos.enable_save 1
Mind that now the C axis will home at any rotation, therefore you want to double check that max and minimum limits of the C axis do not twist up the cables that pass trough the C axis gearbox.
Take off the fiberglass cover on top of the head, if your cables are twisted, move in the direction to get them untwisted, you can use the joint tab in the Orbit AitalMAC application, select the C joint 4 and move to untwist the cables.
After moved successfully to the correct turn, send this command now, in the terminal we opened before
halcmd setp halio.fb.4.use 1
Press the Home all button to home and the program will save the new absolute homing for you in the background.
Now send this command in the terminal to prevent the absolute homing to be overridden
halcmd setp halio.pos.enable_save 0