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

To use the 3PE TP button to backdrive the robot arm.

On the Initialize screen, tap ON to start the power up sequence.
When the robot state is Teach Pendant 3PE Stop, light-press, then light-press-and-hold, the 3PE TP button.
The robot state changes to Backdrive.
Now you can apply significant pressure to release the brake in a desired joint to move the robot arm.
As long as light-press is maintained on the 3PE button, Backdrive is enabled, allowing the arm to move.

3PE device/switch

To use a 3PE device/switch to backdrive the robot arm.

On the Initialize screen, tap ON to start the power up sequence.
When the robot state is Teach Pendant 3PE Stop, light-press, then light-press-and-hold, the 3PE TP button.
The robot state changes to System 3PE Stop.
Press and hold the 3PE device/switch.
The robot state changes to Backdrive.
Now you can apply significant pressure to release the brake in a desired joint to move the robot arm.
As long as the hold is maintained on both the 3PE device/switch and the 3PE TP button, Backdrive is enabled, allowing the arm to move.

Freedrive on robot

To use Freedrive on robot to backdrive the robot arm.

On the Initialize screen, tap ON to start the power up sequence.
When the robot state is Teach Pendant 3PE Stop, press and hold the Freedrive on robot.
The robot state changes to Backdrive.
Now you can apply significant pressure to release the brake in a desired joint to move the robot arm.
As long as the hold is maintained on the Freedrive on robot, Backdrive is enabled, allowing the arm to move.