As you probably know you can't pull your starter before 4 innings or he allows 4 runs unless he gets injured.

However, the robot can pull a pitcher sooner under certain circumstances.

The robot will make sure there is a starter available for all 5 games. If he needs to pull a starter early to have enough BFA for him to come back in a later game when otherwise there would not be a starter, he can and will do so.

That at least is my understanding from a previous post on the forum (by Mike Bravard I think but possibly by someone else). This is not explained in the manual to the best of my knowledge but it probably should be the next time there is an update to the manual.