ABB CRB 15000 Product Manual page 118

3 Installation and commissioning
3.6.2 Lead-through
Continued
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.
Align to a coordinate system
It is possible to align the robot to a coordinate system either in Auto or Manual
mode from the lead-through page for a CRB 15000 robot.
Use the following procedure to align the robot to a coordinate system:
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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.
Note
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.
Note
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
section.
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.
For the CRB 15000, there is a button for updating/refreshing the load while
lead-through is active.
For the CRB 15000, if varying loads from cables and other disturbances are
causing the robot to drift during lead-through, this can often be improved by
setting the system parameter Lead through load compensation to Always. See
Technical reference manual - System parameters, section Motion, type Robot.
1 In the Lead-through page select the a mode in the Lead-through Mode
section.
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Arm-side interface on page
Product manual - CRB 15000
3HAC077389-001 Revision: L
105. If the