Manual/ Auto mode using the TM cobot
Written by Luke Ellacott
Updated at December 20th, 2023
Scenario
TM robot has two operational modes, Manual mode( reduced speed and high speed) and Auto mode. The modes are distinguishable by the colour of the light ring indicator and the mode colour on the robot stick. The robot is in auto mode when starting up.
You need to enable auto mode to control the cobot without a computer near by. In auto mode the operator can control the status of the cobot, the speed by pressing the Plus (+) and minus (-) buttons on the robot stick and you are unbale to use the 'free button on the cobot.
Solution
Hardware setup
To Enable auto mode, the user must install two cables in the safety input I/O at positions SI2-1 and SI2-2
Manual to auto mode steps
There are two methods to enabling auto mode on the cobot. When in auto mode the light ring on the cobot will be flashing blue instead of green.
Option 1 involves the following.
- Run the cobot in manual mode
- adjust the cobot to the required speed
- Press and hold the Mode switch button for 3 seconds
- when the mode indicator light starts flashing blue, press the +/- button in this order “+ - + + -”
Option 2 involves the following.
- Log out of the cobot interface
- press the M/A button on the robot stick for 3 sec
- press the +/- button in the “+ - + + -” sequence
- press the play button
Both methods also require the cobot to be running the required program under ‘run setting’
The steps involved are as follows:
- Run the project in manual mode and adjust the speed
- press the M/A button on the robot stick for 3 sec until it beeps
- stop the program.
- open the run settings and note if ‘Current' is shown on the required program.
Changing to manual mode
To unlock the robot stick in either Auto mode or Manual mode, press and hold the + Button and the – Button at the same time until either the blue LED or the green LED blinks, and then press the +/- Button in the sequence of "-, +, -, -, +". The robot stick is now unlocked in the respective mode.
Enable auto mode speed adjustment
Before being able to adjust the speed in project executions under Auto Mode, the user must first enable speed adjustment under auto mode located under Setting > Safety > Project speed adjustment setting.
