I am working on my first UR project. I need the ability to read joint positions and have the robot use thise positions to move to a safe start point as to not collide with anything. Can someone help me with the best way of doing this? Thanks!

1. Read current position, save in variable
2. Define new pose variable

BeforeStartSequence

     cp = get_actual_tcp_pose()

     z = cp[2]

     safe_pos = p[cp[0], cp[1], 0.4, cp[3], cp[4], cp[5]]

     Wait 1

     MoveL

          safe_pos

Robot Program

     Halt

The way i created a homing program was by setting a variable to every way point and then setting the variable to one when the robot moves to that certain way point, off this i could write a subprogram which would move the robot home using way points. Don't forget to set the variable back to zero after each way point. 

If you have your home position in before start then change it to a relative position instead of fixed position. The robot would not home unless this was set, unsure why. 

Set these as installation variables. 
RobotTracker
currentSubProg

Below is a portion of the program which is relevant to the homing of the robot. 

I found a tutorial on the UR website. https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/creating-a-safe-home-routine-19477/