Chapter 4: Operation The joint assignments in Free mode are the same as the joint assignments in Joint mode. See the preceding figure. WARNING: When a joint is selected using the Joint/Axis control but- tons while in Free mode, the corresponding joint is released and moves freely (in some mechanisms, multiple joints may be released). In many cases, the weight on the joint will be sufficient to move the joint and cause equipment damage or injury to personnel in the workspace. 4.6 Speed Control You can change the robot speed using the Speed +, Speed -, and Slow buttons. The selected speed will be applied when you use the jog controls to move the robot.
While Slow speed is active, a red horizontal line and hash marks are displayed in the part of the speed indicator above 20%, showing that you cannot increase the speed beyond 20%. See the following figure. Figure 4-11. Speed Indicator (Slow Mode) l In COMP mode, the speed control and speed indicator pertain to monitor speed. l In other modes, the speed control and speed indicator pertain to jog speed. Jog speed is the percentage of the speed in manual mode, which is settable in the ACE software with the manual control maximum speed parameter. T20 Pendant User's Guide, 10433-000 Rev. E Page 28 of 50