Setup Tutorial 3:  Teaching the Safe Location

When a Process begins execution and after it is completed, the robot is automatically moved to a fixed Safe Location.  This safeguard helps to avoid inadvertent crashes with obstacles in the workspace.  In addition, some standard operations, such as Purging syringes also move to this location for the same reason.

The Safe Location should be set to a position that is always clear of obstacles and that generally positions the robot out of the way.

NOTE: The Z height of the Safe Location is particularly important since the robot moves to the Safe Location by first retracting to this Z height and then moving horizontally to the Safe Location.   So, the Z height should be above the highest obstacles in the workspace.

»  To define the Safe Location, open Configurations > Robot Motion.

» Manually position the robot at the location that you have selected for the Safe Location taking special care in selecting the proper Z height.

» Press the Teach Safe Point button.

» When asked to "Record Safe Position", press Yes.

» If you are asked "File Exists: Okay to Delete", press Yes.

You have now successfully taught the Safe Location.  This position will automatically be used whenever the system needs to move the robot to a height or position that is clear of obstacles and out of the way.

If you wish to verify the Safe Location, you can manually move the robot to another position and then press the "Move Safe Point" button.