For information on the latest version, please have a look at 1.33.5.
5.4 Robot Operation Mode
The robot controller supports two operation modes, Auto mode and Manual mode, and the Set/Getrobotmode function allows you to check the settings and modes. Auto mode is used to automatically execute programs written in DRL, the robot programming language provided by our company, and Manual mode is used to execute single actions (e.g., jog actions). In Manual mode the controller limits TCP speed to 250 mm/s (500 mm/s on H2515, H2017 and P3020). Motion is planned to stay within this limit, and a TCP speed violation alarm is raised above 110 % of the limit.
Accordingly, if the movej command, the robot motion control function for joint space, is run at maximum speed in Manual mode, overspeed can occur and robot operation can stop. Therefore, take care when setting the operation mode.