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Select the end effector with self-maintaining function / mechanical design.
•
If it is necessary to manually move the arm joint:
1. Remove the joint module protective cover screw and the joint module protective cover
2. Press the brake solenoid valve to release the brake
Refer to the brake release illustration in the Hardware Installation Manual.
Operation Mode and Mode Switching
TM Robot has two operation modes: Manual Mode (reduced speed and high speed) and Auto Mode. The modes
are visually distinguishable by the color of the mode indicator on the Robot Stick and the Indication Light Ring on
the robot's end module. The robot is in Auto Mode when starting up.
Auto Mode
In Auto Mode the Indication Light Ring on the end module displays blue light and the Mode Indicator on the
Robot Stick is in Auto position. The user can press the Robot Stick Play/Pause button to play/pause the
robot program. The robot speed plays according to the project speed. In Auto Mode, the FREE button on
the end module does not actuate, and cannot perform Hand Guiding operation.
Auto Remote Mode is a mode that can only be accessed from Auto Mode when user gets control
permission and no project running. It is intended to let user implement remote control from remote side, e.g.
Fieldbus command, while these remote control commands are forbidden in the other modes. For switching
to Auto Remote Mode, click the Auto Remote Mode icon on the upper bar to permit remote control
commands under this mode.
Manual Mode
In Manual Mode the Indication Light Ring on the end module displays in green and the Mode Indicator on
Robot Stick is in Manual position. In Manual Mode, it can be divided into Manual Control Mode (Manual
Reduced Speed), Manual Trial Run Mode (Manual High Speed), and Hand Guide Mode. When the
protective stop occurs, the manual control operation in Manual Control Mode and Hand Guide Mode are
prohibited by the system.
WARNING:
Wherever possible, the manual mode of operation shall be performed by all persons outside
the safeguarded space.
3.2.2.1 Manual Control Mode (Manual Reduced Speed)
In Manual Control Mode, the user can jog the robot with controller UI in TMflow or the Robot Stick. If the
Safety Manual TECHMAN ROBOT Safety System 3.3
32
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