For information on the latest version, please have a look at GL013301.
get_user_home (Auto Mode)
This section explains how to use get_user_home during Auto (Run) operations to retrieve the user-defined home pose stored in the robot controller.
The user home pose is typically configured beforehand using set_user_home and is often used as a safe return position during automated workflows.
Typical usage
Retrieve the saved home position before executing a homing or return-to-base motion.
Log the home pose for debugging, calibration, or system validation.
Check the current stored home pose after an operator updates it on the teach pendant.
Use as a reference point for workspace initialization or task resets.
Note
Returns a pointer to ROBOT_POSE.
Always validate the returned pointer before accessing pose values.
Example: Reading and Printing the User-Defined Home Position
#include "DRFLEx.h"
#include <iostream>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// 1) Retrieve the user-defined home pose
LPROBOT_POSE home = drfl.get_user_home();
if (!home) {
std::cout << "Failed to retrieve user home pose." << std::endl;
return -1;
}
// 2) Print the home pose values
std::cout << "User Home Position:" << std::endl;
std::cout << "X: " << home->_fTargetPos[0] << std::endl;
std::cout << "Y: " << home->_fTargetPos[1] << std::endl;
std::cout << "Z: " << home->_fTargetPos[2] << std::endl;
std::cout << "Rx: " << home->_fTargetPos[3] << std::endl;
std::cout << "Ry: " << home->_fTargetPos[4] << std::endl;
std::cout << "Rz: " << home->_fTargetPos[5] << std::endl;
return 0;
}
In this example, the program retrieves the saved user home pose and prints the Cartesian coordinates and orientation values, allowing the automation system to confirm or log the reference position before moving the robot.
Tips
Ideal for verifying the home pose before executing a return-to-home sequence.
Useful when operators frequently update home positions in the field.
Combine with motion functions such as
movejoramovelto automate homing routines.Log home pose values to ensure consistent setup across shifts or production cycles.