15.4.12 Home command

15.4.12.1 Home

Explanation	It is used to make the robot return to the set Home through joint space motion
Definition	The command includes no input parameters
Example	Example 1 HomeSet(0, 30, 0, 60, 0, 90, 0); Home; Use the HomeSet command to set the Home and then the Home command to move the robot to the drag pose in the joint space.
Attention	Home pose setting must be enabled on the Robot Setup > Quick Turn interface or through the HomeSet command before the Home command can be used, otherwise, an error is reported.

15.4.12.2 HomeSet

Explanation	It is used to set the robot’s Home in the joint space
Definition	HomeSet (axis1, axis2, axis3, axis4, axis5, axis6, axis7 7 [, ext1, ext2, ext3, ext4, ext5, ext6]); The parameter in is optional and can be omitted. Axisx, data type: Double, to set the angle of each axis of the robot at Home Ext, data type: Double, set the angle of each additional axis of the robot at Home, which can be left blank. When left blank, the angle of each additional axis is 0.
Example	Example 1 HomeSet(0, 30, 0, 60, 0, 90, 0); // if there is no additional axis HomeSet(0, 0, 0, 0, 0, 0, 10, 10, 0, 0, 0, 0); // if there are additional axes Home; Use the HomeSet command to set the Home and then the Home command to move the robot to the drag pose in the joint space.

15.4.12.3 HomeSetAt

Explanation	It is used to obtain the setup data of the robot’s Home
Definition	HomeSetAt(index); Return value, data type: double, joint angle, in ° Index, data type: int, to get the joint angle of the specified axis at Home. When the index is 0, return if HomeSet is enabled, 1 means enabled, and 0 disabled.
Example	Example 1 HomeSet (0, 30, 0, 60, 0, 90, 0); double angle2 = HomeSetAt(2) angle2 Get the joint angle of joint 2 at 30°.

15.4.12.4 HomeDef

Explanation	Determine if the Home is set
Definition	HomeDef() Return value, data type: bool, true: Home already set, false: Home not set

15.4.12.5 HomeSpeed

Explanation	Set the running speed of Home command
Definition	HomeSpeed Speed
Example	Example 1 HomeSpeed(v1000); Home(); Set the Home speed to V1000. Then the Home command moves the robot to Home at the speed of V1000.

15.4.12.6 HomeClr

Explanation	Clear Home setting
Example	Example 1 HomeClr(); Clear Home set in the program. After clearing, the Home command cannot be executed.