Pilz PRBT 6, Руководство пользователя

Страница: 48 / 125

Function description
System Description Service Robotics Modules
1004870-EN-05
| 48
4.10 Operating modes
A distinction is made between automatic and manual operating modes.
Automatic operating mode is the intended production mode of the plant or machine. The
safeguards (e.g. closed safety gate) are activated in automatic mode. Operation in auto-
matic operating mode is also called normal mode or productive mode.
All set up and verification work must be performed in one of the manual operating modes.
After a cold start (switch on supply voltage) the industrial robot always starts in automatic
operating mode (see "Automatic" operating mode [ 49] ). If no teach pendant is connec-
ted, the industrial robot works exclusively in automatic operating mode.
The manual operating modes must be triggered via the key switch on the teach pendant
(see Operating mode "Manual reduced speed" [ 51] and Operating mode "Manual
high-speed" [ 54] ).
Automatic
Activate operating mode:
"Manual reduced speed"
Manual
high-
speed
Manual
reduced
speed
Activate operating mode:
"Automatic"
Activate operating mode:
"Manual high-speed"
Activate operating mode:
"Automatic"
Activate operating mode:
"Manual high-speed"
Activate operating mode:
"Manual reduced speed"
or
change operating mode after 5 minutes of inactivity
Fig.: Overview of the possible changes of operating mode
Each time you change to a different operating mode, the robot movement comes to a con-
trolled stop (SS1) (see Changing the operating mode and motion enable [ 57] ).
If the teach pendant is connected, the operating mode that is currently active will be dis-
played on the teach pendant.