Recovery Mode with Legacy Controller

If the system cannot be reset because of high external forces or because one of the joints has gone past the acceptable limits, the system must be put into recovery mode and jogged back to a safe state before being reset.

This is the method for systems with a legacy controller (HMI version 1.0.X.X or 1.1.X.X).

Step 1: Open access door on robot and remove pendant

Step 2: Use the ‘Close’ button at the bottom of the screen to exit remote control mode

Step 3: Click the ‘Status’ button at the bottom of the screen

If the status button is grayed out, click the ‘X’ or ‘<‘ button in the upper-left corner of the screen.

Step 4: Click the ‘Recovery’ button on the status screen.

Step 5: Click the ‘Servo On’ to turn the robot motors on.

Robot lights should change from red to yellow.

Step 6: Use the select the joint to move and jog it back into the needed range.

If J6 was past 360 degrees, move it to 0 degrees.

Step 7: Use the ‘<‘ button in the upper-left of the screen to exit recovery mode.

Step 8: Press the ‘Setting’ button.

Step 9: In the settings, go to ‘Robot Setup’ and select ‘Remote Control’.

Step 10: Make sure ‘Use Remote Control’ is on and press ‘Start Remote Control’.

Step 11: System should be in ‘Remote Control’ mode.

Replace access pendant and resume normal operation with the enable robot and start robot buttons on the main screen.