# Get (Safe) HomePosition from API or any Interface **URL:** \ **Category:** URCaps SDK\ **Created:** [April 24, 2020, 9:53am UTC](https://forum.universal-robots.com/t/get-safe-homeposition-from-api-or-any-interface/7101 "2020-04-24T09:53:02Z")\ **Posts on this page:** 6\ **Page:** 1
**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:** [April 24, 2020, 9:53am UTC](https://forum.universal-robots.com/t/get-safe-homeposition-from-api-or-any-interface/7101/1 "2020-04-24T09:53:02Z")
Hi, i would like to use the Safe Home Position as a static Child Node of a URCap. This is for a safety reason, as the the Safety I/O can be configured to generate a two-channel Output when the Robot reached the Home Position. Is there any interface which outputs the Home Position? The only thing i can see is that the Home Position is saved in the safety.conf.UR\*\* File. ---
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [April 24, 2020, 2:09pm UTC](https://forum.universal-robots.com/t/get-safe-homeposition-from-api-or-any-interface/7101/2 "2020-04-24T14:09:00Z")
Hi, @m.birkholz I have created the urcap for going safety home just now. I uploaded this to github. I am sorry if my urcap is not what you expected. > [@URCap Sample: Go Safety Home URCap](https://forum.universal-robots.com/t/go-safety-home-urcap/7107): > > Go Safety Home URCap Description of functionality: The feature of this urcap is that the way to go safety home so as not to interfere from anywhere is created. What topics are covered: URCaps Samples GITHUB LINK [github](https://github.com/t-fujiki/safetyhome) Requirements: URCaps SDK v.1.9.0 Example When actual tcp pose is X=-150 Y=200 Z=150, robot moves linearly in the Z direction by 80mm at first because the pose is within conditions. ---
**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:** [April 24, 2020, 2:23pm UTC](https://forum.universal-robots.com/t/get-safe-homeposition-from-api-or-any-interface/7101/3 "2020-04-24T14:23:21Z")
Hi, @fujikit thank you for your answer. What i’m looking for is the built-in (Safe) Home Position Node of the e-Series: ![grafik](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/0/024359e45212dd14d0dfe83b0ab8487e37382b4d.png) ![grafik](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/4/4c122c80e12816ab29dc7964e70a7fa7fc2f2470.png) I can’t see a way to access this data insted parsing the safety config file 😕 there is no variable or preamble in urscript i can use too. ---
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [April 24, 2020, 2:25pm UTC](https://forum.universal-robots.com/t/get-safe-homeposition-from-api-or-any-interface/7101/4 "2020-04-24T14:25:53Z")
I see. I have never touch e-series, so I don’t know in detail about e-series. sorry. ---
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [April 26, 2020, 12:33pm UTC](https://forum.universal-robots.com/t/get-safe-homeposition-from-api-or-any-interface/7101/5 "2020-04-26T12:33:38Z")
Hi, @m.birkholz If I use e-series, I may create the urcap to do this. 🙂 I have created urcaps every time I want the some other features (ex: table for watching ethernet/IP IO, table for values of variables…and so on) I also spent some time learning RTDE, which is quite valuable. ---
**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\ **Post date:** [April 30, 2020, 12:21pm UTC](https://forum.universal-robots.com/t/get-safe-homeposition-from-api-or-any-interface/7101/6 "2020-04-30T12:21:08Z")
Hi @m.birkholz, I do not think the data is available. But I think that is a feature that should be added to the backlog!