92
Viper 650 and 850 Robot with EtherCAT
21861-000 Rev A
programs can execute from the pendant in STEP mode. Refer to the
T20 Pendant User's Manual
(Cat. No. I601)
for more information.
To place the robot in Manual mode, use the Front Panel keyswitch and rotate it to the left pos-
ition (
). In this mode, the robot will respond to the control signals coming from the pendant.
NOTE:
Controlling the robot from a single location satisfies the single point of
control requirement from ISO-10218-1.
Automatic Mode
Automatic mode is used when the robot is operating under normal conditions.
When the robot is placed in Automatic mode, program execution will control the robot up to
the robot's maximum speed.
!
DANGER: PERSONAL INJURY RISK
The robot can move unexpectedly in Automatic mode. Ensure that personnel
stay clear of the robot work area.
To place the robot in Automatic mode, use the Front Panel keyswitch and rotate it to the right
position (
).
Operation Mode
Operation mode should be used when the robot is operating under normal conditions and is
being controlled by the NJ-series Robot Integrated CPU Unit with EtherCAT communications.
To place the robot in operation mode, set the OP/SV two-position dip switch on the eCS-ECAT
interface panel to the OP position (left) as shown in the figure below.
IMPORTANT:
The position of the dip switch is checked during power-up only.
Changing this switch position while 24 VDC power is supplied will not change
the mode of the robot until power is cycled. Remove all robot power before chan-
ging the position of this switch.
Figure 6-6. Operation Mode Selected
Service Mode
Service mode is used for special conditions when the robot must be accessed with methods
other than EtherCAT communications.
