...
- 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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