Staubli CS8C, Instruction Manual

Page: 129 / 248

CS8C © Stäubli 2009 –
D28070504A
129 / 248
Chapter 6 - Operation
6.6.
WORKING MODES
Selection of Working Mode is made from
WMS
front panel. The 3-position keyswitch allows to choose one of the
3 modes (local, remote or manual). The selected mode is indicated on a light on the
WMS
front panel and on the
MCP
.
Depending on the application, it is possible that some working modes are not allowed according to the user
profile (see chapter
5.10.3
). In that case, neither the lights on
WMS
front panel, nor those on
MCP
are On. Another
mode has to be selected from the
3
-position keyswitch on the
WMS
front panel.
6.6.1.
MANUAL MODE
The manual mode is required in the following cases:
•
Manual arm movements.
The operator controls the arm movements using the
MCP
.
•
Test/fine tuning of an application.
In this case, it is a program that determines the arm movements.
The manual mode enables the robot to be moved at low speed (
250 mm/s
maximum).
Jog interface is made using the movement keys (see paragraph
6.7
).
Program movements are only carried out if the
Move / Hold
key has been pressed. The movements stop as soon
as the key is released (see paragraph
6.2.2
).
Power is only maintained on the arm if the enable button is kept pressed down to its intermediate position or if the
MCP
is resting on its holder (see paragraph
6.2.1
).
When the manual mode is selected, the other modes are disabled and the movements cannot be initiated via
outside equipment.
6.6.2.
LOCAL MODE
The local mode enables the robot to be moved without any human intervention at the maximum speed defined for
the application. The movements are the result of a scenario written in a program.
The robot is only operational when the following conditions are combined:
•
The arm is powered up.
•
A movement application has been loaded in the memory and is being executed.
The movement order is given via the
MCP
using the
Move / Hold
key (see paragraph
6.2.2
).
The arm movements are controlled exclusively by the application.
Only the operator can only stop or start the movement and adjust the running speed using the "+/-
" key.
Local mode Remote mode Manual mode
DANGER:
When the robot is in local mode, all persons are prohibited from remaining inside the
isolation area in which the arm moves.