diff --git a/docs/src/code/homing.dot b/docs/src/code/homing.dot
index fc36098a193..7fe9fb2fde3 100644
--- a/docs/src/code/homing.dot
+++ b/docs/src/code/homing.dot
@@ -22,7 +22,7 @@ digraph homing {
     HOME_INDEX_SEARCH_WAIT -> HOME_SET_INDEX_POSITION [label="index seen\nimmediate"];
     HOME_SET_SWITCH_POSITION -> HOME_FINAL_MOVE_START [label="immediate"];
     HOME_SET_INDEX_POSITION -> HOME_FINAL_MOVE_START [label="immediate"];
-    HOME_FINAL_MOVE_START -> HOME_FINAL_MOVE_WAIT [label="after HOME_DELAY"];
+    HOME_FINAL_MOVE_START -> HOME_FINAL_MOVE_WAIT [label="once the joint has stopped\nno HOME_DELAY\nnegative HOME_SEQUENCE: waits for\nthe other joints of the sequence"];
     HOME_FINAL_MOVE_WAIT -> HOME_ABORT [label="on limit"];
     HOME_FINAL_MOVE_WAIT -> HOME_FINISHED [label="reached home position"];
     HOME_FINISHED -> HOME_IDLE;
diff --git a/docs/src/code/homing_es.dot b/docs/src/code/homing_es.dot
index b7e702c848d..a2f2ba164d1 100644
--- a/docs/src/code/homing_es.dot
+++ b/docs/src/code/homing_es.dot
@@ -22,7 +22,7 @@ digraph homing {
     HOME_INDEX_SEARCH_WAIT -> HOME_SET_INDEX_POSITION [label="index encontrado\ninmediato"];
     HOME_SET_SWITCH_POSITION -> HOME_FINAL_MOVE_START [label="inmediato"];
     HOME_SET_INDEX_POSITION -> HOME_FINAL_MOVE_START [label="inmediato"];
-    HOME_FINAL_MOVE_START -> HOME_FINAL_MOVE_WAIT [label="despues de HOME_DELAY"];
+    HOME_FINAL_MOVE_START -> HOME_FINAL_MOVE_WAIT [label="cuando la articulacion se detiene\nsin HOME_DELAY\nHOME_SEQUENCE negativo: espera a\nlas otras articulaciones de la secuencia"];
     HOME_FINAL_MOVE_WAIT -> HOME_ABORT [label="en limite"];
     HOME_FINAL_MOVE_WAIT -> HOME_FINISHED [label="posicion home alcanzada"];
     HOME_FINISHED -> HOME_IDLE;