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HOME

The HOME node homes the robot arm. This node is required to be run before any other robot arm movement. It is recommended to run this node immediately after "ACTIVATE".Inputs ------ ip_address The IP address of the robot arm.Params:Returns:out : ip_addressThe IP address of the robot arm.
Python Code
from flojoy import flojoy, TextBlob
from PYTHON.utils.mecademic_state.mecademic_state import query_for_handle


@flojoy(deps={"mecademicpy": "1.4.0"})
def HOME(ip_address: TextBlob) -> TextBlob:
    """
    The HOME node homes the robot arm. This node is required to be run before any other robot arm movement. It is recommended to run this node immediately after "ACTIVATE".

    Inputs
    ------
    ip_address
        The IP address of the robot arm.

    Returns
    -------
    ip_address
        The IP address of the robot arm.
    """
    robot = query_for_handle(ip_address)
    robot.Home()
    robot.WaitHomed()
    return ip_address

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Example

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In this example, the HOME node homes the robot arm, setting it to its default position.

This node is essential to run before any other movement operations on the robot arm. It’s recommended to use this node immediately after the ACTIVATE node to ensure the robot arm is in a known state.

After the homing process, the node waits for confirmation that the robot arm has been successfully homed.