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.

 

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.

 

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 or 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.

 

  • 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.