Universal Robots UR16e PolyScope X User Manual page 116

12.3. Operational Mode
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 When this mode is activated the robot can only execute a program of
pre-defined tasks. You cannot modify or save programs and installations.
Manual Mode When this mode is 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.
Recovery Mode This mode activates when a safety limit from the active limit set is
violated, the robot arm performs a Stop Category 0. If an active safety limit, such as a joint
position limit or a safety boundary, is violated already when the robot arm is powered on, it
starts up in Recovery mode. This makes it possible to move the robot arm back within the
safety limits. In Recovery mode, the movement of the robot arm is restricted by a fixed
limit that you cannot customize.
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.
Mode
Operational Mode
switching
Speed Slider
Move robot with +/- on Move Tab
Freedrive
Execute Programs
Edit & save program
*** When tool power is enabled, a 400 ms soft start time begins allowing a capacitive load
of 8000 uF to be connected to the tool power supply at start-up. Hot-plugging the
capacitive load is not allowed.
UR16e PolyScope X
WARNING
Injury can occur if the speed used, while the robot is operating in Manual
Mode, is too high.
118
12. Emergency Events
Manual
x
x
x
Reduced speed***
x
Automatic
x
x
User Manual