Enabling Device; Hold-To-Run Control - ABB IRB 6400R Product On-Line Manual

Safety
Testing at full speed
Robot movements at programmed speed can be carried out as follows:
• Set the operating mode selector to 100%
• Programs can only be started using the teach pendant with the enabling device acti-
vated.
For "Hold-to-run control", the Hold-to-run button must be activated. Releasing the but-
ton stops program execution.
The 100% mode may only be used by trained personnel. The applicable laws and
regulations of the countries where the robot is used must always be observed.
Automatic operation
Automatic operation may start when the following conditions are fulfilled:
• The operating mode selector is set to
• The MOTORS ON mode is selected
Either the teach pendant can be used to start the program or a connected remote control
device. These functions should be wired and interlocked in accordance with the appli-
cable safety instructions and the operator must always be outside the safeguarded
space.

7.4 Enabling device

When the operating mode selector is in the MANUAL or MANUAL FULL SPEED
position, the robot can be set to the MOTORS ON mode by depressing the enabling
device on the teach pendant.
Should the robot revert to the MOTORS OFF mode for any reason while the enabling
device is depressed, the latter must be released before the robot can be returned to the
MOTORS ON mode again. This is a safety function designed to prevent the enabling
device from being rendered inactive.
When the enabling device is released, the drive power to the motors is switched off, the
brakes are applied and the robot reverts to the MOTORS OFF mode.
If the enabling device is reactivated, the robot changes to the MOTORS ON mode.

7.5 Hold-to-run control

This function is always active when the operating mode selector is in the MANUAL
FULL SPEED position. It is possible to set a parameter to make this function active
also when the operating mode selector is in the MANUAL position.
8 Product Manual