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 (Manual Mode)

This section explains how to use get_user_home during Manual (Teach) operations. It retrieves the user-defined home pose of the robot — a safe standby position typically used at the start and end of manual calibration tasks. This helps confirm that the robot will move to a predictable, collision-free posture before continuing operations.

Typical usage

  • Retrieve the home pose for manual verification before returning to it.

  • Display or log home position for operator safety checks.

  • Compare with the current TCP pose to ensure correct home return sequence.

Note

  • The return type is ROBOT_POSE.

  • The home pose is user-defined and can be set with set_user_home.

  • This command only retrieves data; it does not initiate motion.

Example: Display and Move Back to User Home

#include "DRFLEx.h"
#include <thread>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

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

    printf("[User Home Pose]\n");
    printf("X: %.2f, Y: %.2f, Z: %.2f | Rx: %.2f, Ry: %.2f, Rz: %.2f\n",
           pHome->_fX, pHome->_fY, pHome->_fZ,
           pHome->_fRx, pHome->_fRy, pHome->_fRz);

    // Step 2. Move robot to the home position (optional manual confirmation)
    printf("Moving robot to user home...\n");
    drfl.move_home(MOVE_HOME_MECHANIC, 1);
    drfl.mwait();

    printf("Robot successfully returned to user home.\n");

    return 0;
}

Tips

  • Use before shutdown or between teaching sessions to safely park the robot.

  • Pair with set_user_home to define custom rest positions.

  • Always confirm the workspace is clear before executing a home move.