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Move to Home

In one sentence: Return the robot to its stored home joint configuration by restoring Axis1–Axis6 from the Home property.

Overview

Workbench: Robot
Menu: Robot → Move to Home
Shortcut: none

Deprecated workbench

The Robot workbench is deprecated as of FreeCAD 1.0.

Reads the Home property (set by Set Home Position) and sets Axis1–Axis6 to those values. The TCP (tool centre point) updates via forward kinematics.

When to use it

  • Before a simulation run, to reset the robot to its start pose.
  • After manually moving joints for inspection, to return to the reference configuration.

Step-by-step

  1. Ensure the robot has a stored home position (set via Set Home Position).
  2. Choose Robot → Move to Home.
  3. The robot's joints snap to the stored home values.

Python API

import FreeCAD as App

robot = App.ActiveDocument.getObject("Robot")
home = robot.Home   # [a1, a2, a3, a4, a5, a6]
robot.Axis1 = home[0]
robot.Axis2 = home[1]
robot.Axis3 = home[2]
robot.Axis4 = home[3]
robot.Axis5 = home[4]
robot.Axis6 = home[5]
App.ActiveDocument.recompute()

See also