def METHOD_NAME(self) -> None:
    """Run the homing procedure."""
    with self._move_lock:
        if self.simulator:
            time.sleep(2.0)
            return
        try:
            self._dobot.clear_alarms()
            self._dobot.wait_for_cmd(self._dobot.METHOD_NAME())
        except DobotApiException as e:
            raise DobotException("Homing failed.") from e
    self.alarms_to_exception()