ABB IRC5 with FlexPendant, Operating Manual

Page: 211 / 306

5.8.3 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 mode,
in combination with the three-position enabling device.
In order 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 Start
button. This hold-to-run function also applies when stepping through a program
in manual full speed mode. When
Start , Forward , and Backward buttons are used
like this (press and hold) they are referred to as hold-to-run buttons. Some versions
of the FlexPendant also have separate hold-to-run buttons.
Function Operational mode
Normally, hold-to-run has no effect in the manual reduced
speed mode. Manual reduced speed mode
However, it is possible to activate for manual reduced speed
mode by changing a system parameter.
Pressing hold-to-run AND pressing the three-position en-
abling device enables running a program. It may be run
continuously or step-by-step. Manual full speed mode
Releasing hold-to-run in this mode immediately stops ma-
nipulator movement as well as program execution. When
pressing it again, execution is resumed from that position.
Hold-to-run is not used in automatic mode. Automatic mode
Using the hold-to-run function
This instruction details how use the hold-to-run function in manual full speed mode.
Action
Press the three-position enabling device on the FlexPendant. 1
Choose execution mode by pressing and holding either:
• Start (continuous program execution)
• Forward (step-by step program execution forwards)
• Backward (step-by step program execution backwards)
2
If Start was pressed, then the program execution continues as long as the Start button
is pressed.
3
If Forward or Backward was pressed, the program is executed step-by-step by altern-
ately releasing and pressing the Forward/Backward button.
Note that the button must be pressed and held until the instruction is executed. If the
button is released, program execution will stop immediately!
If the three-position enabling device is released, intentionally or by accident, the
complete procedure must be repeated to enable running. 4
Operating manual - IRC5 with FlexPendant 211
3HAC050941-001 Revision: G
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5 Programming and testing
5.8.3 Using the hold-to-run function