Disable manual 100% function

Robot Controller IRC5
1

I need to disable manual 100% function for safety issues. But i don’t want to only cut and keep out the wires on key in front of gabinete. I want to do it in software too.

How can i disable manual 100% function not only in hardware, but in software too?

Thank so much!

2

I am not sure how to disable completely but you can limit/restrict with some coding as a event routine.

You can insert a loop in that event that waits for the robot to go to another mode to continue.

Something like this.

WHILE OpMode()=OP_MAN_TEST AND CSpeedOverride(\CTask)<=100 DO
TPErase;
TPWrite “Switch to Manual or Auto mode”;
WaitTime 1.0;
ENDWHILE

Also have a look at OpMode() in the Technical reference manual - RAPID Instructions, Functions and Data types.

3

So, just to be sure, you mean Manual Full Speed, not normal teach mode at 100% override?

4

And do you have multi tasking?