T-Series/Commands/Home/A-Series Motorized Devices

Warning: This is an "include" page. As such, its contents may be included in multiple other pages. To see a list of all pages that include this page, click on "What links here" in the bottom left navbar. If you make changes to this page, be sure that your changes are appropriate to all pages on which this content will be included. You are also encouraged to review our Zaber Wiki Editing Guidelines. This header will not be included in other pages.

Instruction Name	Home
Applies to	A-Series and X-Series motorized devices
Firmware Version	6.xx
Command Number	1
Command Type	Command
Command Data	Ignored
Reply Data	Final Position
Safe to retry?	Yes
Returns Current Position?	Yes
Persistence	n/a
Summary	Moves to the home position and resets the device's internal position.

Upon receiving this instruction, the device will retract until its internal home sensor is triggered. It will then move forward several steps to avoid accidentally re-triggering the home sensor during use. Its internal position is then reset (to 0 for most devices). If a home offset has been specified with the Set Home Offset (Cmd 47) instruction, the device will move forward for the specific offset, then reset the internal position.

The device will attempt to home for an extended amount of time. If Closed-Loop Mode is enabled for an encoder-embedded device, the device will report any slip or stall incident.

NOTE: The device will attempt to move towards the home sensor regardless of the Minimum Position and Home Offset settings. Set Minimum Position (Cmd 106) does not prevent the device from moving pass the Minimum Position during Homing. If you need to initialize the device without homing it, Park the stage before power down and Unpark the stage when power is restored. See Set Park State (Cmd 65) for details.