Operational Mode

 
Description

You access and activate different modes using Teach Pendant or the Dashboard Server. If an external mode selector is integrated, it control the modes - not PolyScope or the Dashboard Server.

 

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

 

Manual Mode When this mode is activated you can program the robot. You can modify and save programs and installations. The speeds used in Manual Mode must be limited to prevent injury. When the robot is operating in Manual Mode, a person could be positioned within reach of the robot. The speed must be limited to the value that is appropriate for the application risk assessment.

Injury can occur if the speed used, while the robot is operating in Manual Mode, is too high.

Recovery Mode This mode activates when a safety limit from the active limit set is violated, the robot arm performs a Stop Category 0. If an active safety limit, such as a joint position limit or a safety boundary, is violated already when the robot arm is powered on, it starts up in Recovery mode. This makes it possible to move the robot arm back within the safety limits. In Recovery mode, the movement of the robot arm is restricted by a fixed limit that you cannot customize.

 

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

 

Switching between Automatic mode to Manual mode requires the Three-Position Enabling Device to be fully released and pressed again to allow the robot to move.

 
 
Mode switching
Operational Mode Manual Automatic
Speed Slider x x
Move robot with +/- on Move Tab x  
Freedrive x  
Execute Programs Reduced speed*** x
Edit & save program x  

 

*** When tool power is enabled, a 400 ms soft start time begins allowing a capacitive load of 8000 uF to be connected to the tool power supply at start-up. Hot-plugging the capacitive load is not allowed.
 

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

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

  • If an external mode selector is used, it must be placed outside the safeguarded space.

  • No-one is to enter, or be within, the safeguarded space in Automatic Mode, unless safeguarding is used or the collaborative application is validated for power and force limiting (PFL).

 
Three-Position Enabling Device

When a Three-Position Enabling Device is used and the robot is in Manual Mode, movement requires pressing the Three-Position Enabling Device to the center-on position. The Three-Position Enabling Device has no effect in Automatic Mode.

  • Some UR robot sizes might not be equipped with a Three-Position Enabling Device. If the risk assessment requires the enabling device, a 3PE Teach Pendant must be used.

 

A 3PE Teach Pendant (3PE TP) is recommended for programming. If another person can be within the safeguarded space when in Manual Mode, an additional device can be integrated and configured for the additional person's use.

 
 
Switching Modes

To switch between modes, in the Right Header, select the profile icon to display the Mode Section.

  • Automatic indicates the operational mode of the robot is set to Automatic.

  • Manual indicates the operational mode of the robot is set to Manual.

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