We are working with UR 10e robots. Recently, we have encountered a joint failure which caused us to replace a joint. However, when it enters this fault state, power is cut to the robot, so moving it into packing position becomes an issue. Specifically, if there is a robot in field, how can we get them to package properly back to us for repair?
Is there a way to trigger a brake release via script or simple way to do on field without removing the joint caps? We are aware of forced backdrive, but a less force involved a safer approach would be optimal.
I think if you hold the freedrive button before it’s fully booted you enter backdrive mode, which is different than just forcing the robot to move while completely powered off. At least I think so…it’s been a while since I’ve had to do it at all, and never to get it back into the box.
Unfortunately, that will not work for this case. From my understanding, the power on command needs to succeed, the robot state idle, before backdrive can be activated. I’m looking for a solution in which say there is a critical hardware fault or one of the joints is maybe not connected, can I bypass the initial safety error to move one of the non broken joints into a safe position on the field? I know the other option would be a forced backdrive with no power, but is there any software way of moving the arm in a hardware faulted state?