Modes Of Operation - ABB IRC5 Applications Manual

2.4.9. Modes of operation

Operation under manual reduced speed mode (< 250 mm/s)
The FWD, BWD buttons may be used to step through the program. New instructions may be
added and MODPOS may be used to modify programmed positions.
The robot will recover as normal if the Enable switch is released during motion.
The robot will not perform synchronized motions to the sensor while in Manual Reduced
Speed mode.
Operation under AUTO
Once a
through the program with FWD and BWD while the sensor is moving.
Start/Stop
The robot will stop and loose synchronization with the sensor if the STOP button is pressed
or if RAPID instruction
DropSensor
The sensor object will not be lost but if the sensor is moving then the object will quickly move
out of the max dist. RESTART synchronization from the current instruction is not allowed if
sensor is moving. The program must be restarted from
will stop with max_dist error where the sensor has stopped.
Emergency Stop/Restart
When the Emergency Stop is pressed the robot will stop immediately. If the program was
stopped after a
moving then the object will quickly move out of the max dist. RESTART synchronization
from the current instruction is not possible and the program must be restarted from
RESTART is forced after the question "Do you want to regain", the robot will move
unsynchronized to the sensor at programmed speed.
Operation under manual full speed mode (100%)
Operation under Manual (100%) is similar to operation under AUTO. The program may be
run by holding the START button, but once a
then it is no longer possible to step through the program with the FWD and BWD buttons
while the sensor is moving.
Hold to run button
Pressing and releasing the Hold_to_run button will make the robot stop and restart. The
synchronization is lost at robot stop. At restart the robot will try to regain synchronization at
max_adjustment_speed.
Stop/Restart
When the STOP button is pressed, or Emergency Stop is pressed, the robot will stop
immediately. If the program was stopped after a
will not be lost but if the sensor is moving then the object will quickly move out of the max
dist. RESTART from the current instruction is not possible and the program must be restarted
from
3HAC18154-1 Revision: F
instruction has been executed, then it is no longer possible to step
SyncToSensor
or
Stop
instructions.
SyncToSensor
.
MAIN
2 Machine Synchronization
is executed between the
StopMove
MAIN
then the sensor object will not be lost but if the sensor is
SyncToSensor
SyncToSensor
2.4.9. Modes of operation
SyncToSensor
. If RESTART is forced the robot
MAIN
instruction has been executed
then the synchronized object
and
. If
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