....
You rapid travel in the home direction until you hit the decel switch
about an inch out from the limit switch. When you hit the decel switch
you drop from rapid to slow until you hit the limit switch. When you hit
the limit switch you drops to creep for ~ 1/2 rev until you reach the
index signal at which point you stop and zero/home the axis.

The home procedure with a galil card is different. First it homes off only a
home switch and an encoder index pulse on each axis

1. rapid till NC home switch opens.
2. reverse slow till home switch closes
3. creep till index pulse made.

This is occurring on all axis simultaneously. If you shut down anywhere near
home it only takes a few seconds.

Karl