text: <s>[INST] Kinetix 5500 using POINTIO digital input as home sensor Summary: using digit input as home sensorIs it possible to use a digital input acquired by a POINTIO as homing sensor for Kinetix 5500? (avoiding wiring the home sensor straight into the drive) [/INST] There's a couple of options. Jog the axis and execute an MRP (on actual position) when the sensor goes high, followed by an absolute MAM to your home position. The home offset would be accounted for in the position you give the MRP instruction. Set the axis homing for passive-immediate and follow the first option, except use an MAH in place of the MRP. This method will set AxisHomedStatus if you need to use that elsewhere. In either case, the accuracy will be affected by the delay of the sensor input, your code and the coarse update rate, multiplied by the speed at which you're jogging. Jogging as slow as possible would obviously improve that. With a little more code, you can have a faster approach speed followed by slower homing speed which mimics a normal bidirectional active-switch/marker homing method. \\n </s>