Doosan A0509, User Manual

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3.4 Robot Mode and State
The operation modes of the robot consist of Manual Mode, where the user controls the robot directly,
and Auto mode, where the robot operates without direct user control.
3.4.1 Manual Mode
This is the mode in which the robot operates according to direct user control. The robot only operates
when a button related to an action is pressed, and releasing the button results in stopping the
corresponding action.
•
In Manual Mode, the TCP movement speed is limited to less than 250 mm/s according to the
Robot Safety Regulations. Howerver, during Handguiding, the TCP speed and joint speed are
limited to less than the thresholds of Reduced status set in
WCM > Robot > Robot Limits
•
If risk assessment results indicate that a 3-position Enable Switch is necessary, the 3-position
Enable Switch can be connected through the I/O by the setting in the
WCM > Robot > Safety I/O .
In this case, the Enable Switch must be placed in the center-enable position to to allow robot
operation in Manual Mode and Servo On.
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In Manual Mode, it is possible to configure robot peripherals in the Workcell Manager or to
program robot tasks in Task Builder and Task Writer, and if the robot cannot be operated
normally for reasons such as the robot exceeding the safety threshold, the Recovery function
can be performed to restore normal operation.