Backdrive

Description

Backdrive is a Manual mode used to move specific joints to a desired position without releasing all brakes in the robot arm. This can be necessary when the robot arm is close to a collision and the motions that accompany a full restart are not desired.

 
Enable Backdrive in 3PE Teach Pendant
  1. Tap the round button in the lower-left corner of the footer to open the control panel and initialize the robot arm. The Robot State is Off.

  2. Tap Power On.
  3. Double-tap and hold the physical 3PE switch on the back of the Teach Pendant. The Robot State is Three Position Enabling Stop.
 

  1. Apply firm pressure to the joint you want to move. When you hear the brake release, move it in the desired direction. The Robot State is Backdrive.

 
In Backdrive mode, the robot is “heavy” to move.
You must test Backdrive mode on all joints.

 
Safety settings

Verify that the robot safety settings comply with the installation risk assessment.

 
Additional safety inputs and outputs are still functioning

Check which safety inputs and outputs are active, and verify that they can be triggered via PolyScope or external devices.