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ID : 7273
Switching Between Operation Modes
Two operating modes are available for COBOTTA: normal mode and direct mode.
"Direct mode" is used to perform direct teaching. "Normal mode" is used to perform other operation.
In the direct mode, it is impossible to move the arm through the key operation of Remote TP/Virtual TP or to operate automatically. Refer to "Operation Mode" in Function Guide for details.
Follow the steps below to switch the operating mode.
Switch to Direct Mode
Follow the procedure below.
Refer to "Direct Teaching" in Function Guide for a set of procedures of direct teaching.
When the normal mode is selected, to change the operation mode to the direct mode, you need to set the operation mode to the direct preparation mode first.
However, there is a restriction function that prohibit to change the operation mode to the direct preparation mode ("Mode lock"). Depending on the status of this function, the operation mode cannot be changed to the direct preparation mode. For information about this function, refer to "Mode lock".
Mode lock is available from the COBOTTA software version is 2.8.* or higher.
1
Press the button with "NORMAL" indicated in the Remote TP/Virtual TP screen.
The display of the mode button varies depending on the mode as shown in the table below.
| Caption | Mode | Description |
|---|---|---|
| NORMAL | Normal mode | Users can operate a COBOTTA manually, also can start it from a program. When holding down the function button on the arm for 1.5 seconds or longer in this mode, the brake will be released. Then the arm can be moved by pushing with a hand. |
| DIRECT | Direct preparation mode | Under this mode, if the function button on the arm is long-pressed for 1.5 second or longer, the operation mode will be the Direct mode. Under this operation mode, users can't move the COBOTTA arm with their hand. |
| Direct mode | Users can move a COBOTTA arm with their hand. Under this mode, if the function button on the arm is long-pressed for 1.5 second or longer, the operation mode will be back to the Direct preparation mode. |
2
Direct preparation settings window is displayed. Change settings as required.
Once the setting is completed, press [OK].
The details of each item are shown in the following table.
The value of mass of payload is retained until COBOTTA is turned off.
The value of gripping force is retained after the restart. too.
Assist mode is retained until it is switched to the Normal mode.
| Item name | Initial value | Description |
|---|---|---|
| Mass of payload (g) | 0 | Set mass of workpiece. |
| Gripping Force (N) | 15 | Set the gripping force of the electric gripper. |
| Mode | Free | Assists the adjustment of teaching by retaining the position and posture. Fress: The position and posture can be changed freely. |
The button will be changed to [DIRECT] and the LED of COBOTTA will change to slow flashing in blue. Now, switching to direct preparation mode has been completed.
3
Once the caption shows [DIRECT], press and hold down the function button on the arm for 1.5 second or longer.
Once LED on the COBOTTA turns blue, the operation mode has been changed to the Direct mode successfully.
When a recovery possible error occurs, the error will be reset automatically by holding down the function button for 1.5 seconds or longer. Once the error is reset, the mode switches to Direct mode.
However, if the COBOTTA LED is lit in red, the error cannot be reset with the above procedure. In such a case, use TP App, I/O, or PacScript commands to reset the error and perform motion preparation first, and then switch to Direct mode.
In version 2.7.* or older, when a recovery possible error occurs, holding down the function button for 1.5 seconds or longer will reset the error, but the mode will not switch to Direct mode. Hold down the function button again for 1.5 seconds or longer, and the mode will switch to Direct mode.
Switch to Normal Mode
To return to the normal mode, release the Direct mode or Direct preparation mode.
However, there is a restriction function that prohibit to change the operation mode to the normal mode ("Mode lock"). Depending on the status of this function, the operation mode cannot be changed to the normal mode. For information about this function, refer to "Mode lock".
Mode lock is available from the COBOTTA software version is 2.8.* or higher.
1
Press the button with "DIRECT" displayed on the screen.
2
Once a confirmation message appears, press [OK].
If your software version is lower than 2.8.*, the confirmation message does not appear. The process goes to STEP3.
3
The display of the button changes to "NORMAL" on the screen. The LED on the arm changes depending on the current state.
ID : 7273