Type of control

The software module offers the following types of controls for the robot:

INFORMATION

You cannot explicitly select the type of control as this occurs implicitly when controlling the jog control signals and the program control signals.

Distinguishing feature

Inactive

Jog mode

Program mode

Referencing mode

Description

Jog mode and program mode are not activated. Braking operation is in progress.

Robot jog

Running SRL programs

Referencing robot axes

Target specified by

(Only for braking operations: see enable mode.)

Jog signals

SRL program

Start command for referencing an axis, parameterized reference travel.

Causes

  • Jog mode inactive
  • Program mode inactive

At least one jog signal is activated.

Program start is activated

At least one referencing start of an axis is activated.

Purpose

Temporary mode

  • Availability check
  • Motion in case of a fault

Automated movement of the robot (target state)

Referencing robot axes

Maximum resulting enable mode

Application stop

Enable

Enable

Enable