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move_home()

Definition

move_home(target)

Features

Homing is performed by moving to the joint motion to the mechanical or user defined home position. According to the input parameter [target], it moves to the mechanical home defined in the system or the home set by the user.

Caution

  • When using the Move command after homing is complete, it is recommended to use the wait command after homing.

Parameters

Parameter Name

Data Type

Default Value

Range

Description

target

int

-


Tartget of home position

  • DR_HOME_TARGET_MECHANIC : Mechanical home, joint angle (0,0,0,0,0,0)

  • DR_HOME_TARGET_USER : user home.

Note

  • Homing motion is divided into two steps and performed sequentially.

    1. Move to the homing position at the speed specified in the system.

    2. Finding the home position precisely

  • Safety should be ensured so that there is no danger of collision in the vicinity of homing operation.

Return

Value

Description

0

Success

Negative value

Error

Exception

Exception

Description

DR_Error (DR_ERROR_TYPE)

Parameter data type error occurred

DR_Error (DR_ERROR_VALUE)

Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME)

C extension module error occurred

DR_Error (DR_ERROR_STOP)

Program terminated forcefully

Example

Python
move_home(DR_HOME_TARGET_USER)     # Go to the user home

P0 = posj(0,0,90,0,90,0)
movej(P0)