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Set Home Position

In one sentence: Store the robot's current joint angles as its home configuration for use as the simulation start pose.

Overview

Workbench: Robot
Menu: Robot → Set Home Position
Shortcut: none

Deprecated workbench

The Robot workbench is deprecated as of FreeCAD 1.0.

Saves the current values of Axis1–Axis6 to the robot's Home property as a list of six floats. The home position is used as the starting configuration when Move to Home is invoked.

When to use it

  • After positioning the robot at its preferred neutral pose, to save it as the home reference.
  • Before a simulation run, to define the starting joint configuration.

Step-by-step

  1. Use the Robot Control panel to set the desired joint angles.
  2. Confirm the robot is at the target home pose.
  3. Choose Robot → Set Home Position.
  4. The Home property is updated with the current Axis1–Axis6 values.

Python API

import FreeCAD as App

robot = App.ActiveDocument.getObject("Robot")
# Set home from current axis values
robot.Home = [robot.Axis1, robot.Axis2, robot.Axis3,
              robot.Axis4, robot.Axis5, robot.Axis6]
App.ActiveDocument.recompute()

See also