Rockwell has an AOI to do torque home for CIP axes. It's a bit buggy and I rewrote it, but you can't just use torque or you will get inconsistent results. You need to set your torque limit to a non breaking value with SSVs, set your position error and velocity error to higher limits to prevent motion faults, also with SSVs, then MAJ until the position error exceeds a soft limit for X time. Once the PE exceeds a limit, then passive Home the Axis to the desired position, and set the torque, position and velocity limits back to normal operating levels. Using this method insures consistent homes everytime, and elimates false homes due to torque spikes.