What action is typical after clearing a fault before rehoming?

• A. Immediately begin jogging toward the nearest limit switch.
• B. Move away from obstacles, then perform the homing routine again.
• C. Power-cycle the controller to reset the system.
• D. Reconnect the tool and restart the motion program.

Answer: (B)

After a fault is cleared, the robot should be brought to a safe, obstacle-free position before rehoming. Moving away from any obstacles gives the system room to move toward its limit switches without risking a collision, ensuring the homing routine can run cleanly and establish accurate reference positions. The homing process depends on sensors and known clearances, so starting from a clear area helps prevent misreads and equipment damage. Jogging toward a limit switch could lead to a crash if something is still out of place or blocked. Power-cycling the controller isn’t a normal step for rehoming and can disrupt other states, making it unnecessary after clearing a fault. Simply reconnecting the tool and restarting motion could leave the system without a verified home, which is why moving away from obstacles first and then re-running the homing routine is the proper approach.