Skip to main content

Safe Home Position

A Home Position describes the desired joint angles of a Robot that must be set before starting a Flow.

In case that a Home Position is set, RobFlow will check whether the Robot is in the desired position before starting a Flow.

If the Robot is not at the Home Position, the run button will be replaced by a Move to Home button that allows to move the Robot to the Home Position at a safe speed.

Where to set it​

Open Flow Config from the action bar of the Flow Editor and pick the third tab, Home Position. The switch that enables it is in the tab list next to the tab's name, not on the tab itself — until it is on, the tab only reads "Home Position is disabled":

The Home Position tab of Flow Config, with the enable switch in the tab list

A Home Position is stored per Flow, so each Flow can insist on a different starting pose. Set the six angles by typing them, by selecting a Joint Pose Variable, or by jogging the Robot into place and pressing Apply current Pose.

The number under each field is how far that joint still has to travel — green for a positive rotation, red for a negative one, and nothing at all once the joint is there. When no field shows a number, the Robot is at the Home Position.

How close is close enough​

RobFlow does not require an exact match. The Robot counts as being at its Home Position when every joint is within 2° of the stored angle. One joint outside that band is enough to block the Flow.

Moving to the Home Position​

While the Robot is outside the tolerance, both the Run and the Debug button disappear and a Move to Home button takes their place.

It is a hold button, not a click: the Robot moves only while it is held, and it stops the moment you release it or slide the pointer off the button. The motion is a point-to-point joint movement at a fixed 5% speed — the speed field next to the Run controls does not change it.

Once every joint is inside the tolerance, the button is replaced by the normal Run and Debug controls again.

warning

Move to Home exists only in the Flow Editor and Subflow Editor. It is deliberately not offered in the Dashboard Editor or Dashboard Viewer, so a Dashboard built around a Run/Pause Flows Widget gives an operator no way to home the Robot. If a Flow with a Home Position is meant to be started from a Dashboard, make sure it is left at its Home Position when the previous run finishes.