All Stubs Home Routine

The motor initialization routine, also called Reset Stubs, All Stubs Home or just All Home procedure, is a specific method of setting the tuning stubs to reference positions (zero positions). The reference position represents a fully retracted stub and corresponds to zero-mm setting in motor motion commands.

The stubs are first moved up (retracted) until the top terminal switches are closed reliably. Then, with a minimum speed, the motors are stepped back, until the switches are released. This is the absolute, mechanical zero position. From this position on, the stubs go further down by a certain number of steps, defined for each motor individually. This is then the reference position.

The motor initialization routine therefore resolves any uncertainties or motor errors possibly caused by lost motor steps.