Robot Control Modes; Manual Mode - Omron Viper 650 User Manual

4. Using the axis selector switch, select the axis on which you want to release the brake.
Note that axis 1 does not have a brake.
5. Press and hold the Brake Release push button to release the brake.
6. Repeat steps 4 and 5 above for releasing the brakes on another axis.
NOTE: When the Status LED (Green) is on, it indicates that the brake-release
box is receiving power (i.e. plugged into a Viper that is turned on).
NOTE: The cable for the break-release box is 4.6 m long.

6.5 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 that an operator can safely work inside the cell. Manual mode
21861-000 Rev A
NOTE: As a safety precaution, an E-Stop should be activated before
releasing an axis using the brake release box.
Axis selector switch
Figure 6-5. Brake-Release Box
Viper 650 and 850 Robot with EtherCAT
2 3 4
Status LED
1
5
6
OFF
BRAKE
RELEASE
Brake Release
Push button
9-pin male
D-Sub connector
Chapter 6: System Operation
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