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 |
DR_HOME_TARGET_MECHANIC |
|
Target of home position
|
Note
-
Homing motion is divided into two steps and performed sequentially.
-
Move to the homing position at the speed specified in the system.
-
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
# Example 1. Move to the mechanical home, then joint motion to P0
move_home(DR_HOME_TARGET_MECHANIC) # Move to the mechanical home (default; identical to move_home() when the argument is omitted)
wait(1) # Using wait after homing is recommended before a Move command (see Caution)
P0 = posj(0,0,90,0,90,0)
movej(P0, vel=30, acc=30) # Joint motion from the home position to P0
# Example 2. Move to the user home, then joint motion to P0
move_home(DR_HOME_TARGET_USER) # Move to the user-defined home
wait(1) # Using wait after homing is recommended before a Move command (see Caution)
P0 = posj(0,0,90,0,90,0)
movej(P0, vel=30, acc=30) # Joint motion from the home position to P0