Function description
System Description Service Robotics Modules
1004870-EN-05
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4.10.2
Operating mode "Manual reduced 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 is intended for the following operations, for example:
}
Carrying out setup work in jog mode
}
Creating the robot program
}
Transmitting the robot program to the motion controller
}
Carrying out repair work
In this operating mode, the initial speed limit is set to the reduced speed of maximum 250
mm/s. It is possible to select speed values less than/equal to 250 mm/s via the teach
pendant. The speed currently selected is displayed in the teach pendant.
The speed of the tool centre point (TCP) is monitored.
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. If this is not possible, the competent person must select a much lower speed
than 250 mm/s for moving the axes.
While this operating mode is running, the vertical axis must be in a position that represents
no risk to anyone.
