set_user_home (Auto Mode)

This section explains how to use set_user_home during Auto (Run) operations to store the robot’s current pose as the user-defined home position.

Once saved, this custom home can be recalled later using move_home with the MOVE_HOME_USER mode, making it useful for user-specific startup poses, calibration points, or safe retreat locations.

Typical usage

• Define a custom home position for automated tasks or workstation setups.

• Set a repeatable reference pose after manual teaching or calibration.

• Establish a safe “return to base” location for task completion.

• Reconfigure the user home dynamically depending on product type or jig position.

Note

• The stored home position persists in controller memory until overwritten or reset.

• No parameters are required; the function stores the current robot TCP pose.

Example: Saving the Current Pose as the User Home and Returning to It

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // 1) Save the robot's current TCP pose as the user home
    if (!drfl.set_user_home()) {
        printf("Failed to set user home.\n");
        return -1;
    }

    printf("User home position saved.\n");

    // 2) Move to the newly saved user home position
    if (!drfl.move_home(MOVE_HOME_USER, 1)) {
        printf("Failed to move to user home position.\n");
        return -1;
    }

    printf("Robot is moving to user home.\n");
    return 0;
}

In this example, the robot stores its current pose as the user-defined home, then immediately executes a motion to return to that pose using MOVE_HOME_USER.

Tips

• Useful for creating custom approach or retreat positions tailored to each task.

• Ideal when multiple operators or workflows require different home poses.

• Combine with get_user_home to verify the stored pose.

• Save the user home after calibration or jig alignment to maintain consistency across runs.