Overview of Operation Modes
The robot system has three modes.
WARNING
When teaching, a supervisor should be positioned outside the safety barriers so that the robot can be stopped immediately if an anomaly occurs.
Before teaching, visually confirm that there are no hazards, such as the presence of a third party inside the safety barriers.
- TEACH mode
This mode is used to approach the robot and teach or check point data using a Teach Pendant.
In this mode, the robot always operates in a low-power state.
In addition, speed at 250 mm/s or less is monitored. - AUTO mode
This mode is for automatic operation (program execution) of the robot system during factory operation.
In this mode, robot operation and program execution are prohibited when the safeguard is open. - TEST mode
- (T1)
In this mode, program verification is performed with the enable switch held down and the safeguard open.
It is a low-speed program verification function (T1: Manual deceleration mode) as defined in the safety standard.
In this mode, the specified function can be executed at low speed with multitasking/single-tasking.
In addition, speed at 250 mm/s or less is monitored. - (T2)
In this mode, program verification is performed with the enable switch held down and the safeguard open.
Unlike TEST/T1, the program can be verified at high speed.
In this mode, the specified function can be executed at high speed with multitasking/single-tasking.
- (T1)
KEY POINTS
- To use the low-speed program verification function (T1: Manual deceleration mode) and the high-speed program verification function (T2: Manual high-speed mode) defined in the safety standard, a Teach Pendant that supports the function is required.
For more information on Teach Pendants, refer to the following manuals.
"Robot Controller Option Teach Pendant TP2"
"Robot Controller Option Teach Pendant TP3"
"Robot Controller Option Teach Pendant TP4"