2011/4/11 Arnoldritercnc <[email protected]>:
>
> Perhaps I should write a kinematics module (XXYZ).
>

Seems like I can only tell, where not to look for the cause of problem
instead of pointing the right direction :)
Kinematics module is the place, where You describe, how Cartesian axes
and joints are related. Kinematics module does not deal any limits. So
do not worry about kinematics modules here.
Why don't You put physical limit switches? Link them all in series and
they will take only 1 input pin.

Viesturs

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