This frame is very simple. X movement causes axes 0 and 1 to move in the same direction. Y movement causes axes 0 and 1 to move in opposite directions.

In FRAME 0 you can make a move in X by MOVE(distance, distance)

You can make a move in Y by MOVE(distance, -distance)

So with that combination you should be able to postion the X and Y towards their home sensors.

MOVE(-distance, -distance)

WAIT UNTIL IN(x_home)=ON

CANCEL

WAIT IDLE

MOVE(-distance, distance)

WAIT UNTIL IN(y_home)=ON

CANCEL

WAIT IDLE

DEFPOS(0,0)

FRAME=2