ABB CRB 15000 Product Manual page 74

3 Installation and commissioning
3.6.2 Lead-through
Continued
lead-through button is pressed but the arm is not moved, then the lead-through
functionality is switched off after 10 seconds.
74
Note
If lead-through is enabled, it will be temporarily disabled during program execution
and jogging. This means that it is possible to combine lead-through, jogging,
and testing the RAPID program without having to disable the lead-through.
Note
When using lead-through, it is important that the load is correctly defined. If the
load is heavier than defined, the effect will be the same as if you are pulling the
robot arm downwards. If the load is lighter than the defined load, the effect will
be the same as if you are pulling the robot arm upwards.
Note
For CRB 15000 with SafeMove, some different behaviors apply, see
with SafeMove on page
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75.
CRB 15000
Product manual - CRB 15000
3HAC077389-001 Revision: A