Lead-Through - ABB CRB 15000 Product Manual

3.6.2 Lead-through

What is lead-through?
The lead-through functionality is available for robots designed for collaborative
applications. If lead-through is available, this is shown on the FlexPendant.
Using lead-through, you can grab the robot arm and move it manually to a desired
position, as an alternative to jogging.
Using lead-through
Use the following procedure to jog the robot using the lead-through functionality:
Lead-through can also be enabled using the RAPID instruction SetLeadThrough,
or a button on the arm side interface, see
Product manual - CRB 15000
3HAC077389-001 Revision: A
1 Enable lead-through in one of the following ways:
• Press the thumb button on the FlexPendant.
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• On the start screen, tap Jog and in the Jog app, select the
Lead-through menu.
• In Quick settings, select the Jog tab.
Note
If the robot is in motors off state, it will automatically go to the motors on
state when the lead-through is enabled.
2 Gently pull the robot arm to the desired position.
Note
You can feel if an axis reaches its end position. Do not try to force the axis
beyond this position.
3 If desired, save the position.
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3 Installation and commissioning
3.6.2 Lead-through
Arm-side interface on page
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