What is the best way to solve the function that wherever you are in the robot program you can press stop and then press a button that means go to homeposition. The robot should then move backwards along a safe path until it gets to its homeposition. Every solution i can think of means a lot of programming and i want a simple way of doing it. Maybe use the path recorder. The problem with that is knowing when to start and stop the recorder to get the simplest and fastest way to homeposition without colliding with something.