ABB OmniCore V400XT, Product Manual

Page: 25 / 466

1.4 Robot operating modes
1.4.1 About the manual mode
The manual mode
Manual mode is a control state that allows for the direct control by an operator.
The operator will through positioning the three-position enabling device to the
center-position allow for movement of the manipulator.
There are two manual modes:
• Manual reduced speed
• Manual high speed (optional)
Safeguard mechanisms
Protective stop function initiated by
• Three-position enabling device (release of or compression past the
center-enabled position)
• General Stop, GS (the dedicated input, GS, or the dedicated input AS/GS
configured to GS, see actual controller)
The mode manual reduced speed
The mode manual reduced speed, is used for jogging, teaching, programming and
program verification of the robot; it may be the mode selected when performing
some maintenance tasks.
In manual reduced speed mode the movement of the TCP is limited to 250 mm/s.
In addition, there is a limitation on the maximum allowed speed for each axis.
Manual control of the robot from inside the safeguarded space shall be performed
through the FlexPendant.
WARNING
Wherever possible, the manual mode of operation shall be performed with all
persons outside the safeguarded space.
Tasks normally performed in mode manual reduced speed
The following tasks are normally performed in manual reduced speed mode.
• Set or reset I/O signals
• Creating and editing RAPID programs
• Modify system parameter values
• Starting, stepping, and stopping program execution
• Jog the manipulator
• Teach or tune programmed manipulator positions
The mode manual high speed
The mode manual high speed, is used for program verification only.
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Product manual - OmniCore V400XT 25
3HAC081697-001 Revision: A
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1 Safety
1.4.1 About the manual mode