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.

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.