'*** Parameters ***
Vi=100000 'Set init vel
A=4500000 'Accel and Decel
D=A

'*** Program ***
PG 1
LB G1
 mu=0,1   'Set makeup, clear LL reg.
 As=1     'Set AccuStep mode to fixed current
 LD=5000  'Lead Limit
 LG=5000  'Lag Limit
 Rc=20     'Use a low value of run current for hard stop
 Er=0      'Clear any errors
 SL -25000 'Slew in CCW direction
 LB K2     'User defined label
 H 100     'Hold 100mS
 BR Z1, Er=107 'Branch to Z1 if Lag Limit reached
 BR K2     'Branch to K2

 LB Z1     'After error 107 occurs set position and do offset
 A=1000    'Change accel and decel
 D=A
 SL 0      'Slew to 0
 H 100     'Delay
 Er=0      'Clear error
 P=0       'Reset position
 C1=0      'Reset counters
 C2=0
 PR "Homing Complete"
 MA 51200  'Offset position one turn CW
 H         'Hold until motion complete
 PR "Offset Complete"
 E         'Program end
 PG