Universal Robots UR30 User Manual page 181

13.3. Modes
Description You access and activate different modes using Teach Pendant or the Dashboard Server.
If an external mode selector is integrated, it control the modes - not PolyScope or the
Dashboard Server.
Automatic Mode Once activated, the robot can only execute a program of pre-defined
tasks. You cannot modify or save programs and installations.
Manual Mode Once activated, you can program the robot. You can modify and save
programs and installations.
The speeds used in Manual Mode must be limited to prevent injury. When the robot is
operating in Manual Mode, a person could be positioned within reach of the robot. The
speed must be limited to the value that is appropriate for the application risk assessment.
High Speed Manual Mode can be used. It allows both tool speed and elbow speed to
temporarily exceed 250 mm/s, while a hold-to-run is used.
Hold-to-run is performed by continuous contact with the Speed Slider.
The robot performs a Safeguard Stop in Manual mode, if a Three-Position Enabling
Device is configured, and either released (not pressed) or it is fully compressed.
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 High Speed Manual Mode, use safety joint limits or safety planes to restrict
the robot's moving space.
Mode
Operational mode
switching
Freedrive
Move robot with arrows on Move Tab
Edit & save program & installation
Execute Programs
Start program from selected node
*Only when no Three-Position Enabling Device is configured.
** If a Three-Position Enabling Device is configured, the robot operates at Manual
Reduced Speed unless High Speed Manual Mode is activated.
User Manual
WARNING
Injury can occur if the speed used, while the robot is operating in
Manual Mode, is too high.
182
Manual Automatic
x
x
x
Reduced
speed**
x
*
*
*
UR30