Operation Mode

Overview

Refer to the Smart Template Modules User Guide for more information on displaying the different tabs.

The Operation mode tab provides a tab for each operation mode on the left-hand side:

Manual
Automatic
Brake release
Homing

On the right-hand side, the Operation mode tab displays a visualization of the robot. The visualization can be configured (Display options and Views).

Manual Tab

The left-hand side of the Manual tab helps you to move the robot manually.
The right-hand side of the Manual tab displays the robot movements. The visualization can be configured (Display options and Views).

WARNING
	UNINTENDED MOVEMENT OF THE AXIS Ensure the proper functioning of the functional safety equipment before commissioning. Ensure that you can stop axis movements at any time using functional safety equipment (limit switch, emergency stop) before and during commissioning. Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: If the robot application is offline or the robot module is not called within the application, the controls of the Manual tab are disabled.

Moving the robot manually:

Item	Description
1	ET_Cmd If the module is not in the operation mode Manual, click the Manual button to send the command RM.ET_Cmd.Manual, and then click the Start button to send the command RM.ET_Cmd.Start. NOTE: Alternatively you can send the commands via the ModuleInterface (for example, iq_etCmd). The displayed Cartesian parameters depend on the configuration of (refer to Robotic Library Guide). If the Manual operation mode is accepted, the background color of the operation mode status Manual switches to green.
2	Robot Axes Click the buttons (positive / negative) to move (jog) along the robot axes by controlling the corresponding drives.
3	Cartesian Click the buttons (positive / negative) to move (jog) the TCP (Tool Center Point) along the axes of the Cartesian coordinate system. The displayed Cartesian parameters depend on the configuration of ET_WorkingPlane (refer to Robotic Library Guide). VelOverride Cartesian: Proportional influence of the active Cartesian jogging velocity. Unit: %
4	List box Displays the pending hardware and software limits.
5	Status Operation Mode Displays the operation mode of the module. If the robot is in Manual operation mode, you can move the robot step-by-step with the buttons of the various jogging modes: Jogging along the Cartesian coordinate system (Cartesian) TCP (Tool Center Point) jogging on path (Path / TCP) Jogging along the robot axes by controlling the corresponding drives (Robot Axes)
6	Auxiliary Axes Click the buttons (positive / negative) to move (jog) the Auxiliary Axes. NOTE: The buttons are only displayed if Auxiliary Axes have been configured.
7	Path / TCP Click the buttons (positive / negative) to move (jog) the TCP (Tool Center Point) along a connected path (if a connected path is available). For status information on the TCP movement, refer to the feedback properties xOnPath, xInZone, and xInTarget (refer to Robotic Library Guide). VelOverride Path: Proportional influence of the active path jogging velocity. Unit: %.

Configuring the visualization:

Item	Description
8	Robot visualization Shows the movement of the robot, particularly the TCP (Tool Center Point) movement within the working plane.
9	Display options Activate the check boxes to define what is displayed in the Robot visualization (work envelope, coordinate system).
10	Fixed views Click one of the buttons to select a fixed default view of the robot.
11	Configure view Move the sliders to configure the rotation, translation, and zoom of the displayed robot. 11.0 Rotation around X-axis 11.1 Translation in direction of X-axis 11.2 Zoom

Automatic Tab

The left-hand side of the Automatic tab provides feedback and diagnostic information on the robot.
The right-hand side of the Automatic tab displays the robot movements. The visualization can be configured (refer to Manual Tab above).

Item	Description
1	ET_Cmd If the module is not in the operation mode Automatic, click the Automatic button to send the command RM.ET_Cmd.Auto, and then click the Start button to send the command RM.ET_Cmd.Start. NOTE: Alternatively you can send the commands via the ModuleInterface (for example, iq_etCmd). If the Automatic operation mode is accepted, the background color of the operation mode status Automatic switches to green.
2	Feedback Enabled A green background color indicates that the module is enabled. Active Detailed information can be found under: ST_ModuleInterface.q_xRobotActive in RoboticModule Library Guide. Ready Detailed information can be found under: ST_ModuleInterface.q_xRobotReady in RoboticModule Library Guide. InTarget Detailed information can be found under: IF_RobotFeedback.xInTarget in Robotic Library Guide. InMotion Detailed information can be found under: IF_RobotFeedback.xInMotion in Robotic Library Guide. HomeOK Detailed information can be found under: ST_ModuleInterface.q_xHomeOk in RoboticModule Library Guide.
3	Diagnostic Diagnostics of the robot module. Detailed information can be found under: ET_DiagExt in RoboticModule Library Guide.
4	Status Operation Mode Displays the operation mode of the module.
5	Reference Position AuxAxes AuxAxes will only be displayed if Auxiliary Axes have been configured. Detailed information can be found under: IF_RobotFeedback.ralrRefPositionAuxAx in Robotic Library Guide.
6	Reference Position Cartesian Detailed information can be found under: IF_RobotFeedback.rstRefPositionTCP in Robotic Library Guide.

Configuring the visualization:

Item	Description
7	Robot visualization Shows the movement of the robot, particularly the TCP (Tool Center Point) movement within the working plane.
8	Display options Activate the check boxes to define what is displayed in the Robot visualization (work envelope, coordinate system).
9	Fixed views Click one of the buttons to select a fixed default view of the robot.
10	Configure view Move the sliders to configure the rotation, translation, and zoom of the displayed robot. 10.0 Rotation around X-axis 10.1 Translation in direction of X-axis 10.2 Zoom

Brake Release Tab

The left-hand side of the Brake release tab helps you to release/engage the brake(s) of one or several robot axes.
The right-hand side of the Brake release tab displays the robot movements. The visualization can be configured (refer to Manual Tab above).

Item	Description
1	ET_Cmd If the module is not in the operation mode BrakeRelease, click the Brake Release button to send the command RM.ET_Cmd.BrakeRelease, and then click the Start button to send the command RM.ET_Cmd.Start. NOTE: Alternatively you can send the commands via the ModuleInterface (for example, iq_etCmd). If the BrakeRelease operation mode is accepted, the background color of the operation mode status BrakeRelease switches to green.
2	Robot Axes Click the Release button to release the brake of the respective axis. Click the Engage button to engage the brake of the respective axis. The indicator between the Release and the Engage button displays the state of the respective brake.
3	Status Operation Mode Displays the operation mode of the module.
4	Auxiliary Axes Click the Release button to release the brake of the respective axis. Click the Engage button to engage the brake of the respective axis. The indicator between the Release and the Engage button displays the state of the respective brake.

Homing Tab

The Homing tab displays the homing mode of the robot axes.

Item	Description
1	ET_Cmd If the module is not in the operation mode Homing, click the Homing button to send the command RM.ET_Cmd.Homing, and then click the Start button to send the command RM.ET_Cmd.Start. NOTE: Alternatively you can send the commands via the ModuleInterface (for example, iq_etCmd). If the Homing OK operation mode is accepted, the background color of the operation mode status Homing OK switches to green.
2	Status Operation Mode Displays the operation mode of the module.
3	Virtual/Real Displays the configured homing mode of the respective axis in case of working mode Virtual and working mode Real. NOTE: All Homing modes of the Cartesian Robot are supported within the Robotic Module library.

Item

Description

ET_Cmd

If the module is not in the operation mode Homing, click the Homing button to send the command RM.ET_Cmd.Homing, and then click the Start button to send the command RM.ET_Cmd.Start.

NOTE: Alternatively you can send the commands via the ModuleInterface (for example, iq_etCmd).

If the Homing OK operation mode is accepted, the background color of the operation mode status Homing OK switches to green.

Status Operation Mode

Displays the operation mode of the module.

Virtual/Real

Displays the configured homing mode of the respective axis in case of working mode Virtual and working mode Real.

NOTE: All Homing modes of the Cartesian Robot are supported within the Robotic Module library.

Homing modes:

Mode	Description
Touchprobe	For detailed information about the parameters refer to PDL.ST_HomeTp. You can also find a list of possible Touchprobe modes in PDL.ET_HomeTpMode. Ensure to select the right Touchprobe signal. NOTE: Due to controller dependent Touchprobe configuration (LMC Pro and Pro2, for example TP_0; LMC Eco, for example ADI_1), a message that the default value 0 must be configured to a valid value is displayed.
Input / Sensor	For detailed information about the parameters refer to PDL.ST_HomeIn. You can also find a list of possible Input/Sensor modes in the PDL.ET_HomeInMode. Use the property SR_<CartesianRobotName>.xHomingSensor<A \| B \| C \| ..>. (See chapter Explorer) to set the sensor value.
Limit Switch	For detailed information about the parameters refer to PDL.ST_HomeLimitSwitch. You can also find a list of possible Limit Switch modes in the PDL.ET_HomeLimitSwitchMode To set the signal of the hardware Limit Switch you have to set the corresponding value in the Logic method(for example iq_stRoboticModuleItf.iq_ifHardwareLimit.raxAxisNegative).
Torque	For detailed information about the parameters refer to PDL.ST_HomeTorque. You can also find a list of possible Torque modes in the PDL.ET_HomeTorqueMode.
Move on Position	For detailed information about the parameters refer to PDL.ST_HomeMoveOnPos.
Set Position	For detailed information about the parameters refer to PDL.ST_HomeSetPos. You can also find a list of possible Torque modes in the PDL.ET_HomeSetPosMode.
Restore	For detailed information about the parameters refer to PDL.ST_HomeSetPos. You can also find a list of possible Input/Sensor modes in the PDL.ET_HomeSetPosMode.
Write Position	For detailed information about the parameters refer to PDL.ST_HomeWritePos.