# Change home position on CB series

**URL:** <https://forum.universal-robots.com/t/change-home-position-on-cb-series/1252>\
**Category:** Technical Questions\
**Tags:** home-position\
**Created:** [October 11, 2017, 8:21pm UTC](https://forum.universal-robots.com/t/change-home-position-on-cb-series/1252 "2017-10-11T20:21:25Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![anon51801516](https://avatars.discourse-cdn.com/v4/letter/a/7c8e57/32.png) [@anon51801516](https://forum.universal-robots.com/u/anon51801516)\
**Post date:** [October 11, 2017, 8:21pm UTC](https://forum.universal-robots.com/t/change-home-position-on-cb-series/1252/1 "2017-10-11T20:21:25Z")

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Is it possible to set the home position of the robot. This is the pose it goes to when the “Home” button on the Move tab is pressed. Currently I can only move it to the default home position when the robot arm is stretched.

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**Author:** ![mmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mmi/32/691_2.png) [@mmi](https://forum.universal-robots.com/u/mmi)\
**Post date:** [October 12, 2017, 11:31am UTC](https://forum.universal-robots.com/t/change-home-position-on-cb-series/1252/2 "2017-10-12T11:31:26Z")

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No, it’s hardcoded joint positions vector.

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**Author:** ![anon63638671](https://avatars.discourse-cdn.com/v4/letter/a/aca169/32.png) [@anon63638671](https://forum.universal-robots.com/u/anon63638671)\
**Post date:** [August 8, 2019, 12:42am UTC](https://forum.universal-robots.com/t/change-home-position-on-cb-series/1252/3 "2019-08-08T00:42:47Z")

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This would be a useful feature. There are cases where the robot home position (out straight) is not a valid position in the installation and in fact causes a crash and damage to the EOAT.

Operators / end users instinctively hit this button when wanting to recover the robot.

Either let it be configurable or allow it to be disabled in the installation configuration.

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**Author:** ![m.birkholz](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.birkholz/32/7084_2.png) [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)\
**Post date:** [August 8, 2019, 6:09am UTC](https://forum.universal-robots.com/t/change-home-position-on-cb-series/1252/4 "2019-08-08T06:09:40Z")

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There is a additional Home Position and Safe Home Position Setting on e-Series since Version 5.2:

 ![grafik](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/b/bfb729365e874bd3f56fe7d676e580ba937cf2c5.png)  
tho i can’t find anything similar for the CB series in the release notes. I assumed it has to be an option on CB-Series too but it’s missing…

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**Author:** ![system](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/system/32/1_2.png) [@system](https://forum.universal-robots.com/u/system)\
**Post date:** [January 27, 2021, 2:18am UTC](https://forum.universal-robots.com/t/change-home-position-on-cb-series/1252/5 "2021-01-27T02:18:35Z")

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