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Signal state change to 70 (Homing init)
Load homing/alignment speeds
Execute home-to-index (HI) with option 3 (slew at VM in + direction, creep in - direction)
Hold until movement complete
Relative move (MR) by Mo to positive closed position
Set C1 to P1, C2 to N1, Cs to N1
Set Df to 1 (positive closed position, known)
Signal state change to 79 (Homing complete)
Goto mode select

Subroutines

Realign by computing new open-loop position (X7)

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