Starts the homing procedure for the N9 robot arm. Homes the z-axis first to lift the rest of the arm to a safe height, then homes the remaining 3 axes concurrently. 

Also disables air channels 0 and 1, typically configured as the gripper teeth and vial clamp, respectively. Axes must be homed before moving after power on, but should not need to be re-homed until the next power cycle.

home_robot(self, wait: bool = True) -> CmdToken

wait: bool, optional

If True, this command blocks until the home is complete.

CmdToken

A CmdToken object that can be used to follow uo on the status of the command or wait for it to finish if wait = False.