Function description
System Description Service Robotics Modules
1004870-EN-05
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4.10.3
Operating mode "Manual high-speed"
This operating mode can only be triggered via the teach pendant (see
). It enables someone to move the axes of the robot
arm manually.
This operating mode may only be used to verify the robot program.
In this operating mode, the initial speed limit is set to the speed of maximum 250 mm/s. The
teach pendant can be used to select speed values up to the maximum speed. The speed
currently selected is displayed in the teach pendant.
Controlled stop (SS1) in this operating mode
}
If the emergency stop function is triggered in this operating mode, the robot movement
will come to a controlled stop (SS1).
}
In this operating mode, if the signal changes from 1 to 0 at the input "Protective stop ex-
ternal" or "Protective stop external safeguard PSENmlock" (1 or 2), this will be ignored.
The robot movement will not come to a controlled stop (SS1).
}
If you switch from this operating mode into one of the other operating modes, the robot
movement will come to a controlled stop (see
Changing the operating mode and motion
).
Requirements for using this operating mode
NOTICE
The system or plant integrator must indicate in the operating manual for the
complete plant/machine that only competent persons may carry out the
manual operating modes.
NOTICE
The system or plant integrator must protect the plant/machine from the pos-
sibility of unauthorised persons manipulating the operating modes on the
plant/machine. The key switch on the teach pendant can be used for this
purpose.
The competent person should only use this operating mode when everyone is outside the
danger zone.
While this operating mode is running, the vertical axis must be in a position that represents
no risk to anyone.
NOTICE
The system or plant integrator is obligated to pay particular attention in their
risk analysis to the situations in which people have access to the danger
zone and in which it is possible to stand below the axes.
