ABB IRC5 with FlexPendant, Руководство по эксплуатации

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5.8.2 About the manual mode
What is the manual mode?
In manual mode the manipulator movement is under manual control. The
three-position enabling device must be pressed to activate the motors of the
manipulator, that is, enabling movement.
The manual mode is used when programming and for program verification.
There are two manual modes:
• Manual reduced speed mode, usually called manual mode.
• Manual full speed mode (not available in USA or Canada).
What is the manual reduced speed mode?
In manual reduced speed mode the movement is limited to 250 mm/s. In addition,
there is a limitation on the maximum allowed speed for each axis. These axis
limitations are robot dependent and cannot be changed.
The three-position enabling device must be pressed to activate the motors of the
manipulator.
WARNING
Wherever possible, the manual mode of operation shall be performed with all
persons outside the safeguarded space.
What is the manual full speed mode?
In manual full speed mode, the manipulator can move in programmed speed but
only under manual control.
The manual full speed mode is used for program verification only.
In manual full speed mode the initial speed limit is up to, but not exceeding, 250
mm/s. This is achieved by limiting the speed to 3% of the programmed speed.
Through manual control the speed can be increased up to 100%.
The three-position enabling device must be pressed to activate the motors of the
manipulator, and the hold-to-run button must be pressed to start program execution.
WARNING
Wherever possible, the manual mode of operation shall be performed with all
persons outside the safeguarded space.
Continues on next page
208 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.8.2 About the manual mode