You'll have to program it. Home is just a position that you set up and doesn't mean anything special to the robot's firmware. Home and several other reference positions are available so that when the robot is at these programmed positions, there is an output that is set.
Some programmers use the PNS or RSR method of executing user programs or you program a "Main" program that continuously runs looking for a signal from the host PLC to do something (Again, something you program).
I recommend you seek out some formal programming or mentoring with someone that has had Fanuc programming experience. There is a lot to learn and though documented, its not intuitive ( DCS for example ).