Add a Retract Program

You can easily create a new program that safely retracts the robot from the part to a safe position.

Similar to the previous operations:

1.With the robot placed at the last target, move the robot upwards by increasing the Z coordinate of the TCP with respect to the reference frame in the robot panel (highlighted case in the next image).

2.SelectProgram➔Add Program, or the appropriate button in the toolbar.

3.SelectProgram➔Move Linear Instruction, or the appropriate button in the toolbar. Rename it toRetractby pressingF2key.

4.Select theHometarget

5.SelectProgram➔Move Joint Instruction. A new move instruction will be added, linked to the Home target.

Simulate each program individually by double clicking it. The simulation can be accelerated by holding the Spacebar key or selecting the Fast Simulation button/.