ABB IRB 14000, Руководство по эксплуатации

Страница: 36 / 72

3.3 Lead-through
What is lead-through?
Lead-through means that you can grab the robot arms and move them manually
to the desired position, as an alternative to jogging.
Using lead-through
Note/illustration Action
xx1500000006
In the jogging window, tap
the button
Enable Lead-
through .
1
You will feel if an axis reaches its end position. Do
not try to force the axis beyond this position. Gently pull the robot arm to
the desired position. 2
Note
Lead-through is enabled per robot arm. To enable lead-through for both arms,
enable one arm and then select the other arm and enable that too.
Note
If the robot is in motors off mode, it will automatically go to motors on when
enabling lead-through.
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 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 defined, the effect will be the
same as if you are pulling the robot arm upwards.
36 Operating manual - IRB 14000
3HAC052986-001 Revision: E
© Copyright 2015-2018 ABB. All rights reserved.
3 Using the IRB 14000
3.3 Lead-through