Universal Robots UR30 - Recovery Mode; Backdrive

13.3.1. Recovery Mode
Description When a safety limit is exceeded, Recovery Mode is automatically activated, allowing the
robot arm to be moved. Recovery Mode is a type of Manual Mode .
You cannot run robot programs when Recovery Mode is active.
During Recovery Mode, the robot arm is moved to be within joint limits, using either
Freedrive or the Move tab in PolyScope.
Safety limits
of Recovery
Mode
Safety Function Limit
Joint Speed Limit 30°/s
Speed Limit 250mm/s
Force Limit 100N
Momentum Limit 10kg m/s
Power Limit 80W
The safety system issues a Stop Category 0 if a violation of these limits appears.
WARNING
Failure to use caution when moving the robot arm in recovery mode can
lead to hazardous situations.
•
Use caution when moving the robot arm back within the limits, as
limits for the joint positions, the safety planes, and the tool/end
effector orientation are all disabled in recovery.
13.3.2. Backdrive
Description Backdrive is a Manual Mode used to force specific joints to a desired position without
releasing all brakes in the robot arm.
This is sometimes necessary if the robot arm is close to collision and the vibrations that
accompany a full restart are not desired.
The robot joints feel heavy to move, while Backdrive is in use.
You can use any of the following sequences to enable Backdrive:
•
3PE Teach Pendant
•
3PE device/switch
•
Freedrive on robot
User Manual 184 UR30
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.