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6.13. Immediate Homing
If a joint does not have home switches or does not have a logical home position like a rotary joint and you want that joint to home at the current position when the "Home All" button is pressed in the Axis gui, then the following ini entries for that joint are needed.
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME equals to HOME_OFFSET
HOME_SEQUENCE = 0 (or other valid sequence number)
Note
The default values for unspecified HOME_SEARCH_VEL, HOME_LATCH_VEL, HOME_USE_INDEX, HOME, and HOME_OFFSET are zero, so they may be omitted when requesting immediate homing. A valid HOME_SEQUENCE number should usually be included since omitting a HOME_SEQUENCE eliminates the joint from HOME ALL behavior as noted above.
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