Auto Safe-Home Routine

    Good afternoon all, hope everyone is doing well. How do I create a routine where the robot can safely exit any machine in any point and come to a safe home spot automatically?

    I have multiple robot cells with Fanuc M710iC running on either R30i-A or -Bs and these robots complete basic material handling from machinery to machinery. Machines are about 120 degrees apart and have a little but not much room for error when robot is loading/unloading parts. Sometimes, part will hit fixture and cause a "robot collision detect fault". Our techs are familiar with manually jogging the robot out of the machine, dropping the part on the floor, and restarting from the top of the program and I would like to automate this with a pushbutton. I was not sure how to write a routine where no matter which position the robot is in, it would safely exit a machine and arrive at a safe spot without hitting anything? What would be the ideal way to program this? I do not have software, so I will write everything on the teach pendant itself.

    Thanks,

    This has been discussed many times before on the forum if you search for recovery routines.

    A simple and effective way to recover is to analyze the current position of the robot and then choose a recovery path.

    You must create a recovery path for each different scenario the robot can be in. In your case that may be one for each fixture. You will want to decide what to do with the part if one is in the gripper. Also you will want to detect if you are not in a valid recovery zone and can't safely automatically recover.

    The zone you are in can be detected several different ways (LPOS/JPOS, DCS, Ref Pos).

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