Moving the robot into the safe zone

 

 

 

The safe zone is the region within which the robot is allowed to move without colliding with external devices. For the Direct Drive Robot, it is the cylindrical region within the red-dotted line as shown in the following diagram. The radius of the cylinder, measured from the center of the base, is 29.1 cm (11.4 in).

 

 

In general, the Direct Drive Robot moves into the safe zone after it completes a Move to, Pick from, Place to, or Transfer command. However, you can move the robot into the safe zone at other times to move it out of the way.

 

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

 

WARNING  Stay out of the system while the robot is in motion.

To move the robot into the safe zone:

Click one of the following:

 

 

Command	Description
Move to safe zone	The robot searches for the closest teachpoint, and then uses the safest path from that teachpoint to the safe zone. If the robot is unable to find a teachpoint nearby, it retracts radially into the safe zone. Use the Move to safe zone command if it is close to a teachpoint and the path from that teachpoint to the safe zone is clear of obstacles.
Retrace to safe zone	The robot searches for the closest teachpoint, and then uses the path from that teachpoint to the safe zone. If the robot is unable to find a teachpoint nearby, it will retreat into the safe zone by retracing the path it took to reach the current location. Use the Retrace to safe zone command when, for example, the robot grippers are within a device, and using the Move to safe zone command might cause the robot to run into the sides of the device or other obstacles.

 

 

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 motors
Stopping the robot motors	Stopping the robot motors
Changing the robot speed	Changing the robot speed
Jogging the robot	Jogging the robot
Opening and closing the robot grippers	Opening and closing the robot grippers
Checking the robot microplate sensor	Checking the robot microplate sensor
Changing the robot display	Changing the robot display
Viewing the log area	Viewing the DDR Diagnostics log area