The cool muscle motor is capable of performing an origin search and home itself automatically, or on command. Homing can be performed to an origin switch or to a hard stop. There are six different K parameters that define the operation of the origin search:

The origin search can be performed in either the clockwise or counter clockwise directions, on power up or on command, as well as to a home sensor or hard stop. When using a home sensor, this must be programmed in the input programming in K27. When using a hard stop, the motor will run until the torque reaches the preset value programmed in parameter K47.

When the origin search is complete, the motor will move the offset distance programmed in K48 (by default this is 0) and then this position becomes position 0 to the motor. 

Home to Hard Stop

When the motor homes to a hard stop, it will move in the direction specified in K45 until it encounters a resistance where the motor torque rises above the value specified in K47.