DANGER! 危險！
Testing in full speed is dangerous. 在全速下運行是很危險的
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Make sure no personnel are in safeguarded space when starting the program. 確認沒有人進入危險區域後，再開 始程序運行。
Procedure:
Step Action Info/Illustration
1 Set the mode switch in the full speed manual position.
將運行模式打到手動全速運行模式
2 Tap OK to close the dialog. 按 OK 關閉對話框
If you change the switch back to manual mode the dialog will be closed automatically.
如果切換到手動減速模式，對話框自動關閉
17.3 Automatic mode (production mode) 自動模式（生產模式） 自動模式（生產模式） 自動模式（生產模式） 自動模式（生產模式）
Error! Reference source not found.Error! Reference source not found. In automatic mode the enabling switch is disconnected so that the robot can move without human intervention.
在自動模式下，使能鍵失效。所以機器人不受人為幹涉。
A robot system in production normally runs in the automatic mode. This mode enables controlling the robot system remotely, for instance by using the controller's I/O signals. An input signal may be used to start and stop a RAPID program, another to activate the robot's motors.
在生產時，機器人通常使用自動模式。這種模式下可以遙控機器人。例如，使用控制器的輸入輸出信號。
一個輸入信號就可以用於控制RAPID程序的開始或停止。另一個信號激活電機。
There are also additional safeguarding mechanisms active in automatic mode, not used in manual mode, to increase safety.
在自動狀態下，也有一些在手動狀態下不用的安全處理信號來增加安全性。
Limitations限制
Jogging is not possible in automatic mode. There may also be other specific tasks that you should perform in manual mode to make sure only you are in control of the robot and its movements.
自動狀態下不允許手動操作機器人。還有一些其他的任務，需要你在手動狀態下，確認機器人的運動軌 跡。
In automatic mode you normally: 自動狀態下，通常
• Start and stop processes. 啟動或停止進程
• Load, start and stop RAPID programs. 加載，啟動，停止RAPID程序
• Return the robot to it's path when you return to operation after an emergency stop. 當急停後，將機 器人回歸他的路徑
• Perform other process-oriented tasks.執行其他進程任務
A well-designed system allows you to perform tasks safely and without affecting the running process. In such a system you can at any time enter safeguarded space temporarily having the process stopped by safeguarding mechanisms while you perform the tasks necessary. When you leave safeguarded space the process is resumed.
Please consult your plant or cell documentation for details on process oriented tasks.
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17.3.1.1.1 CAUTION! 小心
If the robot system is under remote control actions such as starting or stopping process applications and RAPID programs may be overridden. Path tuning may also be disturbed.
In such case perform the mentioned tasks in manual mode.
When should I put the system in automatic mode? 什麼時候可以進入自動運轉狀態？
Switch the system to automatic mode when you have a process application or a RAPID program that is ready to be
run in production. 當完成編程工作，並已經過手動測試後，可切換系統到自動狀態。
17.3.1.1.2 DANGER! 危險
When put in automatic mode the robot may move without warning. 當在自動狀態時，機器人可能在沒有警告 的情況下運動
Make sure no personnel is in safeguarded space before you change operating mode.
當改變運轉模式時，確認無人在危險區
Procedure:
Step Action Info/Illustration
1 Set the mode switch in the automatic position.
將運行模式切換到自動模式
A mode change dialog is displayed on the FlexPendant.
示教器上顯示模式轉換對話框
2 Tap OK to close the dialog. 按確定確定確定確定關閉對話框
If you change the switch back to manual mode the dialog will be closed automatically.
如果切換到手動模式，對話框自動關閉
17.3.1.1.3 NOTE! 注意
If your specific system uses a distributed operator’s panel, controls and indicators may not be placed exactly as described in this manual. Please consult your plant or cell documentation for details.
Controls and indicators do however look and function the same way.
如果你的系統使用一個以上操作面板，操作或指示可能與本資料不同，請參閱你們自己的具體資料。
When can I start using the robot system? 我什麼時候可以使用這個機器人系統？
As long as the mode change dialog is displayed, programs cannot be started and the robot’s motors cannot be activated neither manually or remote.
當模式切換對話框顯示時，手動或遙控都無法啟動程序，或激活馬達。
Exceptions 例外
In automatic mode it is possible to start a process or RAPID program and turn motors on remote. This means that the system will never enter a safe standby state and the robot may move at any time.
Please consult your plant or cell documentation for details on how your system is configured.
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在自動模式下，可以通過遙控啟動程序，激活電機。這意味著系統將處於待命狀態，機器人隨時可能運 動。
具體情況視工廠附屬文件。
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18 18 18
18 Maintenance Maintenance Maintenance Maintenance 機器人保養檢查表 機器人保養檢查表 機器人保養檢查表 機器人保養檢查表
18.1 Manipulator 機器人本體 機器人本體 機器人本體 機器人本體
•
檢查動力電纜與通訊電纜。
• 檢查各軸運動狀況。
• 檢查各軸密封
• 檢查機器人零位。
• 檢查機器人標定數據
• 檢查串行測量板供電電池。 ( 大於 7.2V)
• 檢查機器人各軸馬達與刹車
• 檢查機器人各軸電纜
•
機器人各軸加潤滑油
18.2 Controller 機器人控制櫃 機器人控制櫃 機器人控制櫃 機器人控制櫃
•
檢測控制櫃溫度。
• 檢查主機板、存儲板、計算板以及驅動板。
• 檢查變壓器以及保險絲
• 檢查機器人三相電源。
• 檢查I/O板以及保險絲
• 檢查安全鏈
• 檢測示教板操作
• 檢查電扇或空調
18.3 Other 其它 其它 其它 其它
•
清潔機器人。
• 機器人軟件備份。
• 檢查機器人工作位置。
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