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

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

Caution

On a real robot the call is accepted only with servo off, during initialisation, or in Manual mode with the robot stopped. Otherwise it returns false, an alarm is reported, the motion is quick-stopped and a running program is stopped.

Parameter
None

Return

Value	Description
0	The call was refused.
1	No refusal was received. A return of true does not confirm that the setting was applied.

Example

// (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.