Similar to the previous operations:

1.With the robot placed at the last target, move the robot upwards by increasing the Z coordinate of the TCP with respect to the reference frame in the robot panel (highlighted case in the next image)

2.Select Program➔ Add Program, or the appropriate button in the toolbar.

3.Select Program➔ Move Linear Instruction, or the appropriate button in the toolbar . Rename it to Retract by pressing F2 key.

4.Select the Home target

5.Select Program➔ Move Joint Instruction. A new move instruction will be added, linked to the Home target.

Simulate each program individually by double clicking it. The simulation can be accelerated by holding the Spacebar key or selecting the Fast Simulation button /.