Universal Robots UR16e

Switching Modes 1. To switch between modes, in the Header, select the profile icon.
•
Automatic indicates the operational mode of the robot is set to
Automatic.
•
Manual indicates the operational mode of the robot is set to
Manual.
PolyScope is automatically in Manual Mode when the Safety I/O
configuration with Three-Position Enabling Device is enabled.
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/ for more on using the Dashboard
server.
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.
Manual High Speed The hold-to-run function, Manual High Speed, allows both tool speed and
elbow 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 5.6.2. Joint
Limitson page139) or safety planes (see Safety PlanesModeson
page147) to restrict the robot’s moving space.
User Manual 129 UR16e
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