Switching Operation Modes
WARNING
- Operation is switched between TEACH mode and AUTO mode by the mode selector keyswitch on the Teach Pendant. When switching modes, be sure to switch when outside the safety barriers to avoid hazards.
- Before selecting AUTO mode, restore any paused safeguard functions.
TEACH mode
When the mode selector keyswitch is switched to "TEACH," operation is set to TEACH mode.
Switching to TEACH mode during program execution aborts program execution.
Also, if the robot is operating, it will come to an immediate stop. (Quick Pause)AUTO mode
After closing the safeguard, switch the mode selector keyswitch to "AUTO," and turn on the latch release input signal to set to AUTO mode.TEST mode
- TP4 T1
Set the mode selector keyswitch to "TEACH/T1" to enter TEACH mode. Tap the [Test] tab to enter T1 mode. - TP4 T2
Set the mode selector keyswitch to "TEACH/T2" to enter TEACH mode. Tap the [Test (T2)] tab to enter T2 mode. If a password has been set, enter the password.
- TP4 T1
WARNING
- When the mode is switched from TEACH to AUTO, the message "Workers must leave the safeguard area" appears on the Teach Pendant display. Please ensure safety when performing work operations.
KEY POINTS
The TEACH mode status is latched by software.
To switch mode from TEACH to AUTO, a latch release input is required.
Refer to the following section.
When the mode is switched using the mode selector keyswitch, the motor is turned off.
To switch modes using the mode selector keyswitch, set the enable switch to OFF.
An error occurs when the mode is switched using the mode change keyswitch and the motor is turned on while the enable switch is turned on. If this happens, turn off the enable switch once, turn on the enable switch again, and then turn on the motor.