Robot Operating Modes; About The Manual Mode - ABB OmniCore C90XT Product Manual

1.4 Robot operating modes

1.4.1 About the manual mode

The manual mode
Manual mode is a control state that allows for the direct control by an operator.
The operator will through positioning the three-position enabling switch to the
center-position allow for movement of the manipulator.
There are two manual modes:
Safeguard mechanisms
The manual reduced speed mode
In manual reduced speed mode the movement of the TCP is limited to 250 mm/s.
In addition, there is a limitation on the maximum allowed speed for each axis.
This mode is used for jogging, teaching, programming and program verification of
the robot; it may be the mode selected when performing some maintenance tasks.
Manual control of the robot from inside the safeguarded space shall be performed
at the reduced speed in conjunction with the TPU consisting of the three position
enabling switch.
Tasks normally performed in manual reduced speed mode
The following tasks are normally performed in manual reduced speed mode.
The manual high speed mode
In manual high speed, speeds up to programmed speeds can be achieved e.g. a
speed greater than 250 mm/s. The initial speed limit is up to, but not exceeding,
250 mm/s. This is achieved by limiting the speed to 3% of the programmed speed.
Through manual control the speed can be increased up to 100% of the programmed
speed.
Product manual - OmniCore C90XT
3HAC073706-001 Revision: D
• Manual reduced speed mode
• Manual high speed mode (optional)
• Protective stops through
- Three-position enabling switch
WARNING
Wherever possible, the manual mode of operation shall be performed with all
persons outside the safeguarded space.
• Set or reset I/O signals
• Creating and editing RAPID programs
• Modify system parameter values
• Starting, stepping, and stopping program execution
• Jog the manipulator.
• Teach or tune programmed manipulator positions
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1 Safety
1.4.1 About the manual mode
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