Safety Manual

17
Operating Modes
Teach Mode
Teach mode is to be used for manual operations, such as setting and
testing toolpaths. When in teach mode, the TCP speed is limited to
250 mm/s. Toolpaths with a TCP speed higher than 250 mm/s will
be capped when run in teach mode.
Backdriving is only possible when the robot is in teach mode, the
lock is obtained and the backdriving button is held down. In order to
maintain the lock, Choreograph must remain within the active tab of
the browser.
Automatic Mode
Automatic mode is intended for normal operation once the toolpath
has been set. The TCP speed will not be limited in this mode. The
lock in Choreograph does not need to be maintained once the
toolpath has started.
Loss of Communication
If communication between the robot and the computer controlling
it is interrupted for more than 5-6 seconds, the robot will enter a
special mode. Choreograph must also remain within the active tab in
the browser to prevent this mode from being triggered.
If the robot was running a toolpath or backdriving in teach mode
before communication was lost, all power is cut from the robot
actuators, halting movement and engaging the brakes. When
communication is re-established, a reset must be performed in
Choreograph before any operation can continue.
If the robot was running a toolpath in automatic mode before
communication was lost, the toolpath will be allowed to continue.
During the interruption, the loss of communication will be indicated
in Choreograph. No action is required to continue operation once
communication is re-established in automatic mode.