Changing The Operating Mode; Hold To Run - Techman Robot TM5 Series Manual Book

2.6.3 Changing the Operating Mode

To change the operating mode of the robot, please use the Mode Switch Button on the robot
control to cycle between Auto/Manual mode. The system cannot be changed from Auto to
Manual mode while the robot is running a project in Auto mode. The robot must be stopped by
pressing the Stop Button on the Robot Stick before it can be switched to Manual mode. When the
robot is switched from Manual Trial Run Mode to Auto mode by pressing the Mode Switch
Button, the project run speed will be set to the default project running speed. In other words, the
run speed in Auto mode for this project will now be fixed unless it is changed by another trial run.

2.7 Hold to Run

TM Robot can not only record points through hand guide instruction but also use TM Flow to move the
coordinates of each coordinate system. These include: moving the joint angle, moving the end module
through the robot coordinate system, moving the end module through the tool coordinate system, moving
the end module through a custom coordinate system, moving to the vision initialization position, visual
servo operations, execute step run function, and move to point. In all of the above functions, a hold to run
design was adopted by TM Robot for enhanced safety. There are two types of hold to run in the TM
Robot system. For operations with a higher level risk, the Robot Stick should be used to carry out
different types of hold to run functions. Type 1 is holding down the add/subtract buttons on the Robot
Stick to keep the robot moving. Type 2 is holding down the software buttons on the HMI to keep the robot
moving. Both move the robot while the button is held down and stops immediately when the physical or
virtual button is released. The robot will resume running if the button is held down again. Some of the
functions can be used by both types of hold to run functions so the user can choose one of the Types to
operate. However, if you are using the software hold to run button from a HMI connected to the robot via
TCP/IP or Wi-Fi, if the network is disconnected then the TM Robot system will automatically disengage
the robot and make it stop. In this situation however, it may take up to 0.7 second for a disconnection to
be detected under different network environments. This means that even if you release the software
button the robot may continue to execute the original command. If the physical button on the Robot Stick
is used for hold to run, the system's detection time for button release is 30 ms. For operations with a
higher level risk, the Robot Stick should therefore be used with all hold to run operations.
I Hardware Installation Manual 2. Safety Functions and Interface
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