Doosan M0609, Руководство пользователя

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3.4 Robot Mode and Status
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.
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In Manual Mode, the TCP movement speed is limited to less than 250 mm/s according to the
Robot Safety Regulations.
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If risk assessment results indicate that a 3-position Enable Switch is necessary, the 3-position
Enable Switch can be connected in the
Setting - Safety I/O setting of the system operation
program. In this case, the Enable Switch must be set in the center position to allow robot
operation in Manual Mode and to turn on the servo.
In Manual Mode, it is possible to configure robot peripherals in the Workcell Manager or to program
robot tasks in the 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.
3.4.2 Auto Mode
This is the mode in which the robot operates without direct user control. The robot will execute the
programmed task or predefined sequence with a simple operation command and without additional
user input.
Task Builder or Task Writer can verify the programmed task in virtual mode, execute it in actual
operation, and perform robot tool weight and auto weight center measurement functions.