What is the typical sequence after a fault is cleared to rehome?

• 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 everything.
• D. Update the tool offset and re-run once.

Answer: (B)

After a fault is cleared, you want to return to a safe, controlled reinitialization. The right sequence is to move the robot away from any obstacles, then run the homing routine again. This provides clear space for the machine to approach its home sensors without risking contact with nearby objects, and it reestablishes a known reference position so future moves are accurate. Jogging straight toward a limit switch could cause a collision or re-trigger a fault, so it’s not appropriate. Power-cycling the controller is disruptive and doesn’t guarantee a safe or clean rehome. Updating the tool offset is something done after rehoming to reflect the current tool setup, not part of the rehome process itself.