SetRecoveryMode#

Overview#

The SetRecoveryMode command temporarily relaxes certain safety restrictions, allowing limited motion when the robot would otherwise be blocked due to errors or limit violations. It is intended to safely reposition the robot or to recover from fault conditions.

Bypass limit conditions#

Recovery mode allows moving the robot when its joints are outside user-defined limits, outside a work-zone limit, in self-collision, or when there is a torque overload.

Limited velocity#

When recovery mode is enabled, joint and Cartesian velocities and accelerations are significantly reduced for safety reasons.

Syntax#

SetRecoveryMode(e)

Arguments#

  • e: recovery mode enabled (1) or disabled (0).

Default values#

The default settings are applied whenever the robot is power cycled (rebooted).

By default, recovery mode is disabled.

Responses#

  • [2049][Recovery mode enabled]

  • [2050][Recovery mode disabled]

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the SetRecoveryMode command is mapped to the EnableRecoveryMode bit in the RobotControl data. See Table 4 for more details.