Retracting the robot into the robot zone

 

 

 

The robot zone is the region within which the BenchBot Robot is allowed to move without colliding with external devices. In general, the robot moves into the robot zone to change its arm orientation, rotate its wrist, or for other purposes after it completes a Move to, Pick from, Place to, or Transfer command.

The following diagram shows the top view of the robot zone. It is the shaded region within the elongated semi-circle.

 

You can retract the robot into the robot zone. Retract the robot into the robot zone when:

•	You want to move the robot out of the way while accessing another part of the system.

•	The robot grippers are within a device, and you want to move the robot out of the device without running into the sides of the device or other obstacles.

Retracting the robot moves the robot arm into the neutral position in the x-y plane. The robot does not move along the z-axis.

 

WARNING  Make sure you save new teachpoints in the teachpoint file before moving the robot. The robot can crash into devices at unknown (unsaved) teachpoints.

To retract the robot into the robot zone:

In the Jog/Move tab, click Retract.

 

The robot searches for the closest teachpoint, and then uses the approach distance from that teachpoint to retract into the robot zone. If the robot is unable to find a teachpoint nearby, it will retract directly into the robot zone.

 

 

Related information

 

For information about...	See...
Homing the robot	Homing the robot and grippers
Disabling and enabling the robot motor	Disabling and enabling the robot joint motors
Stopping the robot motors	Stopping the robot motors
Changing the robot speed	Changing the robot speed
Changing the robot speed definitions	Changing the robot speed definitions
Jogging the robot	Jogging the robot
Opening and closing the robot grippers	Opening and closing the robot grippers
Changing the gripper settings	Changing the gripper settings
View the Robot Status area	Checking the robot status and log
Viewing the log area	Checking the robot status and log
Updating the firmware	Updating the firmware
Backing up the robot firmware	Backing up the robot firmware
Installing new or restoring existing firmware	Installing new or restoring existing firmware