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.
-
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
|
-
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
move_home(DR_HOME_TARGET_USER) # Go to the user home
P0 = posj(0,0,90,0,90,0)
movej(P0)