Modes

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 Once activated, the robot can only execute a program of pre-defined tasks. You cannot modify or save programs and installations.

Manual Mode Once activated, you can program the robot. You can modify and save programs and installations.

 

High Speed Manual Mode can be used. It allows both tool speed and elbow speed to temporarily exceed 250 mm/s, while a hold-to-run is used.

Hold-to-run is performed by continuous contact with the Speed Slider.

 

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.

When using High Speed Manual Mode, use safety joint limits (see Joint Limits) or safety planes (see Safety Planes) to restrict the robot’s moving space.

 
Mode switching
Operational mode Manual Automatic
Freedrive x *
Move robot with arrows on Move Tab x *

Edit & save program & installation

 x  

Execute Programs

 Reduced speed** *

Start program from selected node

 x  

*Only when no Three-Position Enabling Device is configured.
** If a Three-Position Enabling Device is configured, the robot operates at Manual Reduced Speed unless High Speed Manual Mode is activated.

 

Notice when switching 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.

  • 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).

 

To Switch Modes: PolyScope

  1. In the Header, select the profile icon.
    • Automatic indicates the operational mode of the robot is set to Automatic.
    • Manual indicates the operational mode of the robot is set to Manual.
Using the Dashboard Server

  1. Connect to the Dashboard server.

  2. Use the Set Operational Mode commands.

    • Set Operational Mode Automatic

    • Set Operational Mode Manual

    • Clear Operational Mode

 
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.

 

A 3PE Teach Pendant 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.