Operational Mode

Description

Access and activate the different modes using the Teach Pendant or the Dashboard Server. If an external mode selector is integrated, it controls the modes instead of PolyScope X or the Dashboard Server.

 

Automatic Mode When this mode is activated, the robot can only execute a program of predefined tasks. You cannot modify or save programs or installations.

 

Manual Mode When this mode is activated, you can program the robot. You can modify and save programs and installations. In Manual Mode, a person may be within reach of the robot. Limit the speed to a value appropriate for the application risk assessment to prevent injury.

 

Recovery Mode This mode activates when a safety limit from the active safety limit set is violated. The robot arm then performs a Stop Category 0. If an active safety limit, such as a joint position limit or a safety boundary, is already violated, the robot starts in Recovery Mode so you can move the robot arm back within the defined safety limits. In Recovery Mode, robot movement is restricted by fixed, non-configurable limits.

 

High Speed Manual Mode When this mode is enabled, you can temporarily exceed the default speed limit of the tool and the elbow.

The robot performs a Safeguard Stop in Manual Mode if a Three-Position Enabling Device is configured and is either released (not pressed) or fully pressed.

 

To switch from Automatic Mode to Manual Mode, fully release the Three-Position Enabling Device, then press it again before the robot can move. When using High Speed Manual Mode, use safety joint limits or safety planes to restrict the robot's moving space.

 
 

Injury may result from operating the robot at excessive speed in Manual Mode.

The suitability of High Speed Manual Mode shall be validated through the application risk assessment.

  • Any suspended safeguards must be returned to full functionality before selecting Automatic Mode.

  • Whenever possible, Manual Mode shall only be used with all persons outside the safeguarded space.

  • Any external mode selector must be placed outside the safeguarded space.

  • No one may enter or remain within the safeguarded space during Automatic Mode, unless safeguarding is active or the collaborative application is validated for Power and Force Limiting (PFL).

The speed limit resets to the default after five minutes of inactivity.

 
To enable High Speed Manual Mode

  1. Tap Application and select Safety.

  2. Open the Three Position options.

  3. Slide Allow manual high speed to enable the function.

 
Mode Switching
Operational Mode Manual Automatic
Move robot with +/- on Move Tab x  
Freedrive x  
Execute programs Reduced speed* x
Edit and save program x  

 

*If a Three-Position Enabling Device is configured, the robot operates at Manual Reduced Speed unless High Speed Manual Mode is enabled.

 
Three-Position Enabling Device

When a Three-Position Enabling Device (3PE) is used and the robot is in Manual Mode, the robot moves only while the device is pressed to the center-on position. The 3PE has no effect in Automatic Mode.

 

A 3PE Teach Pendant is recommended for programming. If a person can enter the safeguarded space during Manual Mode, an additional enabling device must be integrated and configured for that person's use.

 
Switching Modes

Select the profile icon to display the Mode Selection panel in the Sidebar.

  • Automatic indicates that the robot’s operational mode is set to Automatic.

  • Manual indicates that the robot’s operational mode is set to Manual.

PolyScope X is automatically in Manual Mode when the Safety I/O configuration with Three-Position Enabling Device is enabled.

 
Select Remote Mode

You can change remote mode only when the operational mode is set to Automatic.

If you change remote mode from Remote to Local, the operational mode automatically returns to Manual.

 

 

 

Operational Mode Switch

Using a three-position enabling device requires an Operational Mode Switch.

The following illustration shows an Operational Mode Switch.