move_home()

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.

주의

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

Parameter

Parameter Name

Data Type

Dafault 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

PY

move_home(DR_HOME_TARGET_USER)     # Go to the user home

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