set_user_home

This function sets the user-defined home position of the robot in the controller. Once set, this position can be used as a target for homing operations through move_home using the parameter MOVE_HOME_USER.

It is useful when defining a custom initial pose for safe startup, calibration, or workspace entry sequences distinct from the factory home position.

Definition
DRFLEx.h within class CDRFLEx, public section (line 907)

bool set_user_home() {
    return _set_user_home(_rbtCtrl);
};

Parameter
None

Return

Value	Description
0	Error — failed to set user home position
1	Success — user home position successfully stored in controller

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // (1) Define current position as the user home
    drfl.set_user_home();

    // (2) Move robot to the user-defined home position
    drfl.move_home(MOVE_HOME_USER, (unsigned char)1);
}

In this example, the current robot pose is saved as the user home position. The robot then executes a motion command to return to that stored pose using the MOVE_HOME_USER flag during the homing sequence.