# Configure Motor Homing
> Configure a Mach4 axis to seek and set machine home, including versioned differences and machine-type-specific steps.
_Generation: mach4 - URL: /mach4/configuration/homing/_

import Since from '../../../../components/Since.astro';
import VersionRange from '../../../../components/VersionRange.astro';
import MachineType from '../../../../components/MachineType.astro';
import AnnotatedImage from '../../../../components/AnnotatedImage.astro';
import Include from '../../../../components/Include.astro';
import Parameter from '../../../../components/Parameter.astro';

Motor homing establishes a known machine-coordinate reference so soft limits and
work offsets are meaningful. Set your **Machine Profile** (bottom-right) to a Mach4
release to see the version-correct procedure.

<Include src="warnings/disable-motion" />

## Identify the pendant controls

The numbered callouts below are **data layered over a clean screenshot** -- the
text is searchable, translatable, and readable by bots even though it never
appears in the image pixels.

<AnnotatedImage
  src="/images/pendant-layout.svg"
  caption="Wireless MPG pendant, homing-relevant controls"
  callouts={[
    { n: 1, x: 20, y: 30, text: 'Axis select rotary switch' },
    { n: 2, x: 50, y: 42, text: 'MPG hand wheel' },
    { n: 3, x: 50, y: 74, text: 'Feed-rate / enable buttons' },
  ]}
/>

## Homing procedure

<VersionRange max="galileo">
For **Galileo and earlier**, home each axis individually from the Diagnostics tab,
then confirm the machine-coordinate readout resets to zero at the home switch.
</VersionRange>

<Since release="unimate">
**Unimate and newer** add a one-touch *Home All* sequence that orders the axes
automatically using the configured homing priorities.
</Since>

### Set the homing speed

<Parameter number={275} />

## Machine-type specifics

<MachineType types="grinder">
On grinders, home the wheel-dress axis **before** the work axes so the dresser
cannot collide during the reference move.
</MachineType>

<MachineType types="router">
On routers with a floating Z reference, verify the tool-length touch-off plate is
clear before homing Z.
</MachineType>

## If the controller does not respond

<Include src="procedures/restart-controller" />