You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

get_user_home

This function retrieves the user-defined home position stored in the robot controller. The returned structure contains the Cartesian pose information (position and orientation) of the home position previously set using set_user_home.

This function is often used to verify or log the stored home pose before executing a homing motion or during system initialization.

Definition
DRFLEx.h within class CDRFLEx, public section (line 760)

LPROBOT_POSE get_user_home() {
    return _get_user_home(_rbtCtrl);
};

Parameter
None

Return

Value	Description
LPROBOT_POSE	Returns a pointer to the user-defined home position data structure.

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // (1) Retrieve the stored user home pose
    LPROBOT_POSE pHome = drfl.get_user_home();

    // (2) Print the position and orientation of the user home
    printf("User Home Position [mm]: X=%.2f, Y=%.2f, Z=%.2f\n", pHome->_fX, pHome->_fY, pHome->_fZ);
    printf("User Home Orientation [deg]: Rx=%.2f, Ry=%.2f, Rz=%.2f\n", pHome->_fA, pHome->_fB, pHome->_fC);
}

This example retrieves the robot’s user-defined home pose and prints its Cartesian position and orientation values for verification or debugging.