Omron trajexia CJ1W-MCH72 Operation Manual page 141

All BASIC commands
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Example A machine must return to its home position defined by the limit switch
which is found at the rear of the move before operation. This can be
achieved through using DATUM(4) which moves in reverse to find the
switch.
SERVO=ON
WDOG=ON
REV_IN=-1 'temporarily turn off the limit switch function
DATUM_IN=5 'sets input 5 for registration
SPEED=5000 'set speed, for quick location of limit switch
CREEP=500 'set creep speed for slow move to find edge of switch
DATUM(4) 'find edge at creep speed and stop
WAIT IDLE
DATUM_IN=-1
REV_IN=5 'restore input 5 as a limit switch again
Section 4-2