Pilz PRBT 6 - Changing Operating Mode and Motion Enable

Function description
System Description Service Robotics Modules
1004870-EN-05
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4.10.4 Changing the operating mode and motion enable
The teach pendant is required in order to change the operating mode.
Procedure
Change
operating mode
Has a different operating
mode been selected?
Operate key switch:
Lock -> Unlock
Operate key switch:
Unlock -> Lock
Yes
No
Robot movement
is
stopped
Fig.: Actions when changing to a different operating mode
To change to a different operating mode, proceed as follows:
} Turn the key switch on the teach pendant from "Lock" to "Unlock".
} Change the operating mode on the teach pendant.
An overview of the possible changes of operating mode can be found under Operating
modes [ 48].
} Turn the key switch on the teach pendant from "Unlock" to "Lock".
A check is run to see whether the operating mode has actually been changed.
– If a different operating mode has been selected, then the stop function SS1 is
triggered and the selected operating mode is adopted. The selected operating mode
is displayed in the teach pendant.
– If the operating mode has not been changed, there is no further response.