8 Operating Modes
58
Fig. 8-4:
Operating modes selector switch
8.2.1
Teaching mode
WARNING!
Danger of impact and crushing due to robot movement
The safety stop function is deactivated in teaching mode.
While the robot is in teaching mode, close off the area around the robot, and protect it
against access by unauthorized persons. There must be no persons in the danger zone of
the robot.
While the robot is in teaching mode, secure the horstPANEL and horstCONTROL against op-
eration by unauthorized persons.
After teaching is completed, remove the key from the operating mode selector switch to
prevent unauthorized switching of the operating mode.
The robot can only be moved manually in two-handed operation. To move the robot, the enabling
switch must always be kept pressed in the center position in operating modes T1 and T2. In
addition, the desired control element must be kept pressed on the display. As soon as one of the
two conditions is no longer fulfilled, the robot will brake to a standstill.
Switch on the robot system (see subsection 7.1, page 53).
If the power supply was interrupted previously, the robot must be reinitialized.
If necessary, reinitialize the robot (see subsection 7.2, page 54).
Switching to a different operating mode causes the robot to stop. A warning message appears
on the display. The message must be confirmed in order to proceed. The enabling switch must
be released during this time.
There are two teaching modes: T1 or T2.
T1
–
programming mode
The speed of the TCP (tool center point) is limited to 250 mm/s. The robot can be moved only with the
enabling switch.
Before programming waypoints, ensure that the system has reached operating temperature.
Thermal expansion in the robot system can result in position deviations.
Switch the robot system on at least 60 minutes before the programming process.
T2
–
program verification mode
The speed of the TCP (tool center point) can exceed 250 mm/s. The robot can be moved only with the
enabling switch.
Switch the operating modes selector switch on the horstCONTROL to T1 or T2. Pull out the
key to prevent unauthorized persons from changing the operating mode.
Confirm the change of operating mode; the enabling switch must be released to do this
(see horstFX user manual).
Create, edit, or execute a program (see horstFX user manual).
Summary of Contents for HORST900
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