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 (even before performing homing)
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.
Moving before homing#
Recovery mode also allows moving the robot without performing homing (by calling ActivateRobot but
not Home).
This can be useful to move it to a safe position where there is enough clearance for homing movements.
Before homing is completed, the robot’s accuracy is lower than after homing. As a result:
The reported real-time position will be less accurate (
GetRtJointPos,GetRtJointVel,GetRtCartPos,GetRtCartVel, etc.);The robot may not reach the exact requested position when using Recovery mode to move the robot before homing.
Similarly, controlling the MEGP 25* grippers or the MPM500 pneumatic module is possible, but with restrictions:
Gripping force and velocity are limited;
The
MoveGrippercommand cannot be used, onlyGripperOpenandGripperClosecan be used.
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.