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How to home the motors?

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Hello,
there is something I do not quite understand abou the OpenFlexure.
■ How are the motors homed?, and
■ How to proceed if, e.g. while first installing and getting familiar with it, the focus is not found and the motors and associated mechanical parts are no longer on the default/unstrained position?
Looking forward to finally get my microscope running.
Thanks for offering this to the world!
Best regards
Mathieu

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