What is the recommended action before detaching or installing a tool?

• A. Detach while moving slowly to confirm alignment.
• B. Update the robot firmware first.
• C. Notify the operator verbally only.
• D. Ensure robot is in a safe state, power off if required, and calibrate tool data after installation.

Answer: (D)

Safety and accurate tool data are essential when changing tools. Before detaching or installing, bring the robot to a safe state so there’s no unintended motion—power off if required and use safety interlocks or an enable/disable method to ensure the arm can’t move while you’re handling the tool. After the tool is attached or removed, calibrate the tool data (tool length, orientation, center of gravity) so the robot’s program calculations reflect the new setup. This combination protects people and equipment and keeps the robot’s pose and movements correct after the change. Rushing the process by moving slowly to check alignment or relying on verbal notifications won’t reliably prevent hazards or inaccuracies, and updating firmware isn’t a substitute for proper safety and calibration steps.