Which action best ensures safe detachment of a tool?

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

Answer: (D)

Bringing the system to a safe state with power control and recalibrating after installation best protects people and the robot. When the robot is not allowed to move and power is off as required, there’s no risk of unexpected joint motion that could cause injury or drop the tool. After reattaching, calibrating the tool data ensures the controller has an accurate tool length, weight, and center of gravity, so subsequent motions are planned safely and precisely.

Detaching a tool while the robot is still running is dangerous because movement can occur unexpectedly. Merely telling the operator verbally doesn’t impose any automatic safety barrier or stop the robot. Updating firmware doesn’t directly address the safe detachment process. The combination of ensuring a safe state, power control if needed, and recalibrating tool data after installation provides both immediate safety and correct operation for future tasks.