how to -- Homing two motors one axis

# kinematics
loadrt trivkins
# trajectory planner
loadrt tp
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD base_period_nsec=[EMCMOT]BASE_PERIOD num_joints=[KINS]JOINTS kins=trivkins tp=tp
loadrt picnc
#loadrt mux2 count=2
#loadrt encoder num_chan=1
loadrt gantry count=1 personality=2
#newinst gantry gantry.0 pincount=2

addf picnc.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf picnc.update servo-thread
addf picnc.write  servo-thread
addf gantry.0.read  servo-thread
addf gantry.0.write servo-thread
#loadrt thc
#addf thc servo-thread
loadrt not count=1

addf not.0 servo-thread
#addf not.1 servo-thread
#******************encoder*********************
setp halui.feed-override.count-enable true
setp halui.feed-override.direct-value true
setp halui.feed-override.scale 0.01
#net enc-a      picnc.enc-a                => encoder.0.phase-A
#net enc-b      picnc.enc-b                => encoder.0.phase-B
#net enc_s32    conv-s32-float.0.in        <= encoder.0.counts
#net ext-fork0  mux2.0.in0                 <= conv-s32-float.0.out
#net enc-btn    picnc.enc-btn              => mux2.0.sel
#net ext-fork   halui.feed-override.counts  <= encoder.0.counts


net spindle-cmd-rpm     <= motion.spindle-speed-out
net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-cmd-rps     <= motion.spindle-speed-out-rps
net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-at-speed    => motion.spindle-at-speed
#net spindle-cw         <= motion.spindle-on


net coolant-flood   <= iocontrol.0.coolant-flood 
net coolant-mist    <= iocontrol.0.coolant-mist #rafal 

net coolant-flood                      => picnc.out1
net both-x                             <= picnc.axis.0.home
net home-y                             <= picnc.axis.1.home
net home-y1                            <= picnc.in1
net home-y2                            <= picnc.in2
net both-z                             <= picnc.axis.2.home
net power picnc.in4  => picnc.out2


#net probe-in                          <= picnc.in.probe
net float-switch                       <= picnc.in.float
net net-estop-ext-not   not.0.in       <= picnc.in.stop
net estop-ext                          <= not.0.out


net torch-probe motion.probe-input    picnc.in.probe
# spindle on starts the arc
net spindle-on motion.spindle-on => picnc.out0

#net spindle-on thc.torch-on

# starts the motion when the plasma arc has transfered to the work
net start-motion-input <= motion.digital-in-00 <= picnc.in.arc-ok

net spindle-on  => picnc.float_as_stop


setp picnc.axis.0.scale              [AXIS_0]SCALE
setp picnc.axis.0.maxaccel           [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd    => picnc.axis.0.position-cmd
net xpos-fb picnc.axis.0.position-fb => axis.0.motor-pos-fb
net both-x                           => axis.0.neg-lim-sw-in
net both-x                           => axis.0.pos-lim-sw-in
net both-x 			=> axis.0.home-sw-in

setp picnc.axis.1.scale                   [AXIS_1]SCALE
setp picnc.axis.1.maxaccel                [AXIS_1]STEPGEN_MAXACCEL
setp picnc.axis.2.scale                   [AXIS_1]SCALE
setp picnc.axis.2.maxaccel                [AXIS_1]STEPGEN_MAXACCEL
#setp gantry.0.search-vel                  [AXIS_1]HOME_SEARCH_VEL
net ypos-cmd  gantry.0.position-cmd       <= axis.1.motor-pos-cmd
net ypos-fb   gantry.0.position-fb        => axis.1.motor-pos-fb
net joint-cmd1 gantry.0.joint.00.pos-cmd  => picnc.axis.1.position-cmd
net joint-cmd2 gantry.0.joint.01.pos-cmd  => picnc.axis.2.position-cmd
net y1pos-fb   picnc.axis.1.position-fb   => gantry.0.joint.00.pos-fb
net y2pos-fb   picnc.axis.2.position-fb   => gantry.0.joint.01.pos-fb
net home-y    axis.1.neg-lim-sw-in       => axis.1.pos-lim-sw-in 

net limit-y    gantry.0.limit             =>  axis.1.neg-lim-sw-in => axis.1.pos-lim-sw-in
#net home-yg    gantry.0.home              =>  axis.1.home-sw-in
net home-y1                               => gantry.0.joint.00.home
net home-y2                               => gantry.0.joint.01.home




# position command and feedback
# hijack position command and feed through thc
#net zpos-cmd thc.z-pos-in        <= axis.2.motor-pos-cmd
#net thc-pos-cmd thc.z-pos-out    => picnc.axis.3.position-cmd
#net zpos-fb axis.2.motor-pos-fb  <= thc.z-fb-out


setp picnc.axis.3.scale               [AXIS_2]SCALE
setp picnc.axis.3.maxaccel            [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd     => picnc.axis.3.position-cmd
net zpos-fb  picnc.axis.3.position-fb => axis.2.motor-pos-fb
net both-z                            => axis.2.neg-lim-sw-in
net both-z                            => axis.2.pos-lim-sw-in
net both-z 			=> axis.2.home-sw-in
net estop-out                         <= iocontrol.0.user-enable-out
#net estop-out                        => iocontrol.0.emc-enable-in
net estop-ext                         => iocontrol.0.emc-enable-in


#setp picnc.out.enable 1

[EMC]
MACHINE = plasma
DEBUG = 1

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.5
INTRO_GRAPHIC = start-linux.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/mk/Desktop/gcody/
INCREMENTS = 5mm 1mm .5mm .1mm .05mm
#PYVCP = adc.xml
#PYVCP = plasma.xml
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD =  100000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = MF70.hal
POSTGUI_HALFILE = 

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 100
MAX_LINEAR_VELOCITY = 400

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.010
TOOL_TABLE = tool.tbl

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 400.0
MAX_ACCELERATION = 1000
STEPGEN_MAXACCEL = 1200
SCALE = 88.52
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -1600.0
MAX_LIMIT = 1600.0
HOME_OFFSET = 0.0

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 400.0
MAX_ACCELERATION = 1000
STEPGEN_MAXACCEL = 1200
SCALE = 76.08
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -3100.0
MAX_LIMIT = 3100.0
HOME_OFFSET = 0.0

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 1250.0
STEPGEN_MAXACCEL = 1562.4
SCALE = 400.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -90000.0
MAX_LIMIT = 1400.0
HOME_OFFSET = 0.0