ABB CRB 15000 Product Manual page 81

Finally, if risks in automatic mode cannot be sufficiently reduced by these or other
means, use of the arm-side interface shall be restricted to manual mode.
Product manual - CRB 15000
3HAC077389-001 Revision: E
3.5.3 Working closely with the robot in a safe way
If additional clients are needed, ensure that their interaction with the
controller can be disabled. Disable them while using the arm-side
interface.
Introduce organizational measures to prevent start of the programmed
motion while someone is using the arm-side interface. For example: it
shall be possible to visually confirm that the area around the robot is
clear.
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3 Installation and commissioning
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