Enabling Device And Hold-To-Run Functionality - ABB IRC5 Compact Product Manual

1.3.3 Enabling device and hold-to-run functionality

Three-position enabling device
The three-position enabling device is a manually operated, constant pressure
push-button which, when in center-enabled position, allows potentially hazardous
functions.
The three-position enabling device will when continuously held in center-enabled
position permit robot motion and any hazards controlled by the robot. Release of
or compression past the center-enabled position will stop the hazard, for example,
robot motion.
Hold-to-run function in manual full speed mode
The hold-to-run function for manual full speed allows movement in conjunction
with the three-position enabling device when the button connected to the function
is actuated manually. This hold-to-run function can only be used in manual full
speed mode. In case of hazard, release or compress the three-position enabling
device.
How to use the hold-to-run function for manual full speed mode is described in the
operating manual for the controller.
Deviations are listed in the product manual for the manipulator.
Product manual - IRC5 Compact
3HAC047138-001 Revision: M
CAUTION
The person using the three-position enabling device is responsible to observe
the safeguarded area for hazards due to robot motion and any other hazards
controlled by the robot.
CAUTION
For safe use of the three-position enabling device, the following must be
implemented:
• The three-position enabling device must never be rendered inoperational
in any way.
• If there is a need to enter safeguarded space, always bring the three-position
enabling device. This is to enforce single point of control.
Note
The manual full speed mode is not available in all markets.
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1.3.3 Enabling device and hold-to-run functionality
1 Safety
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