ABB OmniCore E10 Product Manual

1.4 Robot operating modes1.4.1 About the manual modeThe manual modeManual mode is a control state that allows for the direct control by an operator.The operator will through positioning the three-position enabling device to thecenter-position allow for movement of the manipulator.There are two manual modes:• Manual reduced speed• Manual high speed (optional)Safeguard mechanisms• Protective stop through- Three-position enabling device (release of or compression past thecenter-enabled position)- General Stop, GS (see actual configuration, can be configured to eitherAS or GS)The mode manual reduced speedThe mode manual reduced speed, is used for jogging, teaching, programming andprogram verification of the robot; it may be the mode selected when performingsome maintenance tasks.In manual reduced speed mode the movement of the TCP is limited to 250 mm/s.In addition, there is a limitation on the maximum allowed speed for each axis.Manual control of the robot from inside the safeguarded space shall be performedthrough the FlexPendant.WARNINGWherever possible, the manual mode of operation shall be performed with allpersons outside the safeguarded space.Tasks normally performed in mode manual reduced speedThe following tasks are normally performed in manual reduced speed mode.• Set or reset I/O signals• Creating and editing RAPID programs• Modify system parameter values• Starting, stepping, and stopping program execution• Jog the manipulator• Teach or tune programmed manipulator positionsThe mode manual high speedThe mode manual high speed, is used for program verification only.Continues on next page24 Product manual - OmniCore E103HAC079399-001 Revision: C© Copyright 2019-2022 ABB. All rights reserved.1 Safety1.4.1 About the manual mode