I Hardware Installation Manual 2. Safety Functions and Interface
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2.6 Operating Mode
TM Robot comes with two operating modes: Manual Mode and Auto Mode. Current mode can be
determined visually via the mode indicator (see Section 4.2.3.1) on the Robot Stick, and the color of the
Indication Light Ring on the robot's end module (see Section 4.2.2.4). The robot starts in Auto Mode.
2.6.1 Auto Mode
When the robot is in Auto Mode the Indication Light Ring on the end module is blue and the mode
indicator on the Robot Stick is in the Auto position. Under auto mode, pressing the Play/Pause
buttons on the Robot Stick runs or pauses the project. Robot speed is determined by the project
speed. The FREE button of the end module does not work under Auto Mode so there is no
guiding by hand.
2.6.2 Manual Mode
When the robot is in Manual Mode the Indication Light Ring on the end module is green and the
mode indicator on the Robot Stick is in the Manual position. Manual Mode can be further broken
down into Manual Control mode and Manual Trial Run Mode. The user can tell the difference
using the status of the green Indication Light Ring on the end module as well. Constant green
light indicates Manual Control mode while flashing green light indicates Manual Trial Run Mode.
2.6.2.1 Manual Control Mode
In Manual Mode, if the robot is not moving then it is in Manual Control mode. Press the FREE
button on the end module to guide the robot by hand or use the controller page to jog the
robot. When the robot is in Manual Control Mode, all robot motion will be limited to less than
250mm/sec. If the robot speed exceeds 250mm/sec then it will stop on an error.
2.6.2.2 Manual Trial Run Mode
When the user is in the HMI's project editing page, pressing the Play/Pause button on the
Robot Stick enters Manual Trial Run Mode. The 250mm/sec speed limit does not apply
while editing projects in Manual Trial Run Mode but the project run speed will be reduced to
10% during each trial run. The add/subtract buttons on the Robot Stick can be used to adjust
the project run speed in Manual Trial Run Mode. Each button press increases or decreases
project run speed by 5%. This is used to adjust the project run speed.
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