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NOTE: To comply with ISO 10218-1 when using a remote brake release button,
ensure the brake release button displays a warning label to indicate that the plat-
form of the robot may fall due to gravity if the brake is released.
5.5 Robot Control Modes
The robot can operate in several different control modes. The selection and function of these
modes are described in this section.
Manual Mode
Manual mode is typically used during functions of commissioning, position teaching, and
other setup operations.
When the robot is placed in Manual mode, robot motion speed is limited to 250 mm/sec and
servo torque is limited so an operator can safely work inside the cell. Manual mode programs
can execute from the pendant in STEP mode. Refer to the T20 Pendant User's Manual (Cat. No.
I601) for more information.
To place the robot in Manual mode, use the Front Panel keyswitch and rotate it to the left pos-
ition (
). In this mode, the robot will respond to the control signals coming from the pendant.
NOTE: Controlling the robot from a single location satisfies the single point of
control requirement from ISO-10218-1.
Automatic Mode
Automatic mode is used when the robot is operating under normal conditions.
When the robot is placed in Automatic mode, program execution will control the robot up to
the robot's maximum speed.
!
To place the robot in Automatic mode, use the Front Panel keyswitch and rotate it to the right
position (
Operation Mode
Operation mode should be used when the robot is operating under normal conditions and is
being controlled by the NJ-series Robot Integrated CPU Unito with EtherCAT communications.
To place the robot in operation mode, set the OP/SV two-position dip switch on the robot inter-
face panel to the OP position (left) as shown in the figure below.
IMPORTANT: The position of the dip switch is checked during power-up only.
Changing this switch position while 24 VDC power is supplied will not change
22793-000 Rev. A
DANGER: PERSONAL INJURY RISK
The robot can move unexpectedly in Automatic mode. Ensure that personnel
stay clear of the robot work area.
).
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Chapter 5: System Operation
109
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