Using I/O for Mode Selection

Description

The robot can be configured to switch between operational modes without using the Teach Pendant. This means using the TP is prohibited when switching from Automatic mode to Manual mode and from Manual mode to Automatic mode.

 

Switching modes without the use of the Teach Pendant requires safety I/O configuration and a secondary device as a mode selector.

 
Mode selector

The mode selector can be a key switch with a redundant electrical layout or with signals from a dedicated safety PLC.

 

 

To use the mode selector

Using the mode selector, such as a key switch, prevents the TP from being used to switch between the modes.

  1. Connect your mode selector to the inputs as shown in the image below.

  2. Verify the mode selector is correctly connected and configured.

 
To configure the connected safety inputs

Configuring the safey inputs for the secondary device connection requires unlocking the safety I/O screen.

  1. In the Navigation menu, tap Application.

  2. Select Safety.

  3. At the bottom of the screen, tap Unlock.

    When prompted, input your password to unlock the Safety screen.

    If you have not previously defined a password, use the default password: ursafe.

  4. Under Safety I/O select Inputs.

  5. Select one of the input signals by tapping one of the Input dropdown options.

  6. In the dropdown list, select Operational Mode.

  7. Tap Apply and allow the robot restart.

  8. Tap Confirm Safety Configuration.

    You can now only use the secondary device to select and/or switch between operational modes.

Once the input is assigned to the secondary device, switching modes via the TP is disabled. If an attempt is made to use the TP to switch modes, a message appears confirming the TP cannot be used to change the operational mode.