Home / start / end positions

[federgarrido]

Hi everyone,
This may sound dumb, but is the Start/end position of the KUKA PRC related to the robot's internal HOME position?
We are working under a relatively low ceiling and the default START/END position needs to be changed. Once I change them, would the robot still go to its internal HOME position?

Thanks in advance!

[Johannes @ Robots in Architecture]

Hello,
Axis positions in KUKA|prc are all absolute and not in relation to $HOME!
Best,
Johannes

[federgarrido]

So, I could start / end my script without ever going through Home ever?

[Johannes @ Robots in Architecture]

Well, you should start a file with a clearly defined position (which would usually be an axis position). But it does not have to be the $HOME position. The robot does not need to home itself like a 3D printer.
Best,
Johannes