In which mode is the cartesian speed limited to below 250 mm/s and joint speed under 10%?

The mode in which the cartesian speed is limited to below 250 mm/s and joint speed under 10% is T1, which stands for Teach Mode 1. This mode is primarily designed for programming and teaching the robot its paths and movements. The restrictions on speed in T1 allow operators to safely guide the robot through its motions without risking damage to the equipment or harm to personnel. The slower speeds provide greater control and precision, which are essential when setting up jobs or ensuring that the robot follows a defined path accurately.

In this context, the other modes operate differently: Manual mode allows for full-speed operation without these limitations, which can be more difficult to manage. Automatic mode generally does not impose such strict limitations, as it is designed for production runs where speed is more critical. T2 is also used for teaching but typically operates at higher speeds than T1. Thus, T1's constraints on both cartesian and joint speeds make it particularly suited for careful programming and setup purposes.