Backdrive Module

Backdrive cuts off power supplied to the motors, releasing only the brakes to allow the robot's joints to move under external force. This function is used when the robot cannot return to normal status with Recovery mode or Handguiding. With Backdrive mode, the user can engage or disengage the brake of each joint.

To enter the Backdrive module, tap the Backdrive&Recovery module at the bottom.

Menu Items

	Item	Description
1	Start Backdrive Mode	This button allows you to run the Backdrive mode.
2	Exit Backdrive	This button allows you to exit the Backdrive module.
3	Joint Image	This is an image that describes the position of each joint.
4	On/Off toggle button	You can choose whether to enable it for each joint.

The process of setting Backdrive mode is as follows:

Tap the Status button on the main menu Backdrive button.
- If the Backdrive button is not enabled, pressing and releasing the Emergency Stop button or pressing the Servo Off button will enable it.
- If the servo is turned on, the following pop-up window appears and the servo is automatically disabled.
The Start Backdrive Mode button on the Backdrive screen.
- OFF/ON buttons to release the brakes of each joint are enabled.
Set the brake of the joint to move as OFF (Release) and move the robot by applying force.
- Due to the deceleration ratio of the decelerator inside the joint, the joint sagging speed due to the manipulator weight is not high, and movement speed when force is applied is also not high.
- If the decelerator malfunctions or if joints move at a speed faster than a certain speed during zero-gravity motion, the brakes of all joints are applied automatically to ensure safety.
Set the brake ON (Hold) when the position change is complete.
Tap the Power on the main menu to shut down the operating program, tap and hold the power button on the top of the teach pendant to shut down the system, and press it again to turn on the system.
- Backdrive status is released and work can resume normally.

Note

Move each joint back to the normal work range individually in sequential order.
If Backdrive mode is executed, the system must be rebooted to resume normal work again.
Use caution as temporary sagging may occur depending on the axis location in Backdrive mode.