Function description
System Description Service Robotics Modules
1004870-EN-05
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4.7
Enabling function
The enabling device is used in the modes "Manual reduced speed" and "Manual high-
speed", to enable the axes of the robot arm to be moved manually.
The teach pendant has two enabling switches to control the enable. Both switches are con-
nected in parallel, so both right and left-handed operation is possible. Further information
can be found in the operating manual for the teach pendant PRTM1. The enabling function
operates independently of any other motion control function and any other device.
The enabling function evaluates the three positions of the enabling device:
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Zero position (enabling device not operated)
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Centre position (enabling device in centre position, enable)
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Panic position (enabling device fully depressed)
Zero position
While the programmer is not holding any of the enabling switches in the centre position, he
cannot move the axes manually.
Please note:
If the enabling switch is released while the axes are being moved manually, the robot
movement will come to a controlled stop (SS1). If the operating mode "Manual high-speed"
is activated, then the speed will also be reset to the initial speed of maximum 250 mm/s.
Centre position (enable)
If the motion enable from the safety control system is present, then the axes of the robot
arm can be moved manually for as long as the programmer keeps one or both of the en-
abling switches held down in the centre position.
Please note:
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If only one of the two enable switches is used and the enabling switch is in the centre po-
sition, then the robot movement will come to a controlled stop (SS1) under the following
conditions:
– The enabling switch is released (change to zero position).
– The enabling switch is fully depressed (change to panic position).
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Simultaneous operation of both enabling switches is permitted as the enabling switches
are connected in parallel. This makes sense if you wish to change from the left to the
right hand and vice-versa in the centre position. The enabling device operates as follows:
– If both enabling switches are in the centre position and one of the enabling switches
is released (change to zero position), then the robot movement will not come to a
controlled stop (SS1).
Please note: When changing hands, if both enabling switches are held simultan-
eously in the centre position for longer than 2 s, when one enabling switch is sub-
sequently released, the robot movement will come to a controlled stop (SS1).
– If both enabling switches are in the centre position and both enabling switches are re-
leased (change to zero position), then the robot movement will come to a controlled
stop (SS1).
