Switch Between Modes; Hold To Run - Omron Techman Robot Safety Manual

robot speed exceeds 250 mm/sec, it will enter an error stop state.
3.2.2.2 Hand Guide Mode
Hand Guide Mode can be activated in Manual Control Mode only. Press and hold the FREE button on
the End Module to enter Hand Guide Mode, and release the FREE button to return to Manual Control
Mode.
3.2.2.3 Manual Trial Run Mode (Manual High Speed)
In Manual Trial Run Mode, users can test the robot program by navigating to the TMflow project editing
page and pressing the Play/Pause button on the Robot Stick. The initial project speed will reduce to 5%
during each trial run, forcing the path motion of the robot lower than 250 mm/s. The +/- buttons on the
Robot Stick are for the adjustment of the project run speed. Each button press increases or decreases
project run speed by 5%.
WARNING:
The person should be outside of the safeguarded space when using Manual Trial Run Mode.

Switch Between Modes

For how to switch between modes, refer to the latest Software Manual of the respective software version of
the robot system.
DANGER:
Prior to selecting automatic operation, any suspended safeguards shall be set back to full
functionality.

Hold to Run

When the TM Robot is in Manual Control Mode, the functions include:
• joint angle movement
• robot base end movement
• tool base end movement
• self-defined base end movement
• move to visual initial position
• visual servo action
• step run
• move to point
• hand guiding
• others
Safety Manual TECHMAN ROBOT Safety System 3.3 33