Three-Position Enabling Device; Manual High Speed - Universal Robots e-Series Original Instructions Manual

4. Operational Mode Selection
Using the Dashboard Server
1. Connect to the Dashboard server.
2. Use the Set Operational Mode commands.
• Set Operational Mode Automatic
• Set Operational Mode Manual
• Clear Operational Mode
See http://universal-robots.com/support/

4.2. Three-Position Enabling Device

When a Three-Position Enabling Device is configured and the Operational Mode is in Manual Mode,
the robot can only be moved by pressing the Three-Position Enabling Device. Connecting and
configuring a Three-Position Enabling Device makes Automatic Mode Safeguard Stop accessible.
The Three-Position Enabling Device has no effect in Automatic Mode.

4.2.1. Manual High Speed

The hold-to-run function, Manual High Speed, allows the tool speed to temporarily exceed
250mm/s. It is only available when your robot is in Manual mode and a Three-Position Enabling
Device is configured. The robot performs a Safeguard Stop in Manual mode, if a Three-Position
Enabling Device is configured, but not pressed. Switching between Automatic mode to Manual
mode requires the Three-Position Enabling Device to be fully released and pressed again to allow
the robot to move.
When using Manual High Speed, use safety joint limits (see
planes (see 5.11. Planes on
Software Manual
for more on using the Dashboard server.
page 39) to restrict the robot's moving space.
31
5.10. Joint Limits on page 38) or safety
e-Series