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Safe Robot Recovery at Palletizing Program Start: Option 1 vs Option 2

Compare two ways to bring the robot to a safe position before running

Context

During palletizing, operators cannot access UR move or freedrive controls. After a collision or stop, recovery often requires moving the robot upwards and away from the pallet. To simplify recovery without technician help, you can configure a Before Start homing procedure.

This article compares two approaches: automatic upward motion vs using a home waypoint.

Information

Option 1: Automatic Move Up

Best for: fully automated recovery with minimal operator input.

  • At program start, the robot moves up 100mm automatically if at least 200mm vertical reach is available.

  • Ensures the robot is clear of the pallet and ready to continue its trajectory.

  • Reduces operator decisions—robot always moves up on start.

Option 2: Home Waypoint

Best for: situations where operators want more control of positioning.

  • Define a home waypoint in the Before Start section.

  • On program start, the operator is prompted to move to this waypoint.

  • They can:

    • Press Move Robot to: Home, or

    • Use the move menu for manual positioning.

Which One to Choose?

  • Option 1 (Auto Move Up): Quick, safe, hands‑off recovery.

  • Option 2 (Home Waypoint): More flexible, allows manual operator control.

Conclusion

Both approaches provide safer and easier recovery after accidental stops. Choose between automation (Option 1) and operator control (Option 2) based on your process needs.

For additional help, visit Robotiq Support.