ABB CRB 15000 Product Manual page 85

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Lead-through can also be enabled using the RAPID instruction SetLeadThrough,

or a button on the arm side interface, see

lead-through button is pressed but the arm is not moved, then the lead-through

functionality is switched off after 10 seconds.

Lead-through is possible in both manual and automatic mode.

Product manual - CRB 15000

3HAC077389-001 Revision: E

The robot moves to the selected position. If the Lead-through lock option is

selected, the robot moves in such a way that the movement is restricted in

the locked direction.

You can feel if an axis reaches its end position. Do not try to force the axis

beyond this position.

5 If desired, save the position.

The speed at which the robot moves when using the Lead-through functionality

is managed using the horizontal scroll bar available in the Lead-through Speed

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.

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.

For the CRB 15000, there is a button for updating/refreshing the load while

lead-through is active.

3 Installation and commissioning

3.6.2 Lead-through

Arm-side interface on page

Troubleshooting