Testing; Using The Hold-To-Run Function - ABB OmniCore Operating Manual

6 Programming and testing

6.9.1 Using the hold-to-run function

6.9 Testing

6.9.1 Using the hold-to-run function
When to use the hold-to-run function
The hold-to-run function is used to run or step programs in manual full speed
operating mode, in combination with the thumb button and the three-position
enabling device. The location of the thumb button is illustrated in the section,
FlexPendant
To run a program in manual full speed mode it is necessary, for safety reasons, to
keep pressing both the three-position enabling device and the thumb button. This
also applies when stepping through a program in manual full speed mode.
The following table provides the relation between the controller operating mode
and the hold-to-run function.
Operating mode
Manual full speed mode
Manual reduced speed
mode
Automatic mode
Using the hold-to-run function
Use the following procedure to use the hold-to-run function in manual full speed
mode.
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Main parts on page
Note
For robots in collaborative applications, the motors are on by default. There is
no need to press the three-position enabling device. Other safety measures apply
if SafeMove is selected in the system.
1 Open the program and set the program pointer to main.
2 Press the three-position enabling device to center-position.
3 Choose the execution mode by pressing one of the following buttons:
• Start (for continuous program execution)
• Forward (for step-by step program execution forwards)
• Backward (for step-by step program execution backwards)
4 Press and hold the thumb button.
If Start was pressed, the program execution continues as long as you hold
the thumb button.
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17.
Function
Pressing the three-position enabling device the thumb button
enables running a program. It may run continuously or step-by-
step.
Releasing the thumb button in this mode immediately stops the
manipulator movement as well as program execution. When
pressing it again, the execution is resumed from that position.
Normally, hold-to-run has no effect in the manual reduced speed
mode. However, it is possible to activate for manual reduced
speed mode by changing a system parameter.
Hold-to-run is not used in automatic mode.
Operating manual - OmniCore
3HAC065036-001 Revision: J