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

// 1) Retrieve the user-defined home pose
LPROBOT_POSE home = drfl.get_user_home();

if (!home) {
    printf("Failed to retrieve user home pose.\n");
    return -1;
}

// 2) Print the home joint angles [deg]
printf("User Home Position:\n");
printf("J1: %.1f\n", home->_fPosition[0]);
printf("J2: %.1f\n", home->_fPosition[1]);
printf("J3: %.1f\n", home->_fPosition[2]);
printf("J4: %.1f\n", home->_fPosition[3]);
printf("J5: %.1f\n", home->_fPosition[4]);
printf("J6: %.1f\n", home->_fPosition[5]);

In this example, the program retrieves the saved user home pose and prints the joint position values [deg], 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 movej or amovel to automate homing routines.

  • Log home pose values to ensure consistent setup across shifts or production cycles.