Installation and Commissioning

SafetyTesting at full speedRobot movements at programmed speed can be carried out as follows:• Set the operating mode selector to 100%• Programs can only be started using the teach pendant with the enabling device activated.For “Hold-to-run control”, the Hold-to-run button must be activated. Releasing the buttonstops program execution.The 100% mode may only be used by trained personnel. The applicable laws andregulations of the countries where the robot is used must always be observed.Automatic operationAutomatic operation may start when the following conditions are fulfilled:• The operating mode selector is set to• The MOTORS ON mode is selectedEither the teach pendant can be used to start the program or a connected remote controldevice. These functions should be wired and interlocked in accordance with the applicablesafety instructions and the operator must always be outside the safeguardedspace.7.4 Enabling deviceWhen the operating mode selector is in the MANUAL or MANUAL FULL SPEEDposition, the robot can be set to the MOTORS ON mode by depressing the enablingdevice on the teach pendant.Should the robot revert to the MOTORS OFF mode for any reason while the enablingdevice is depressed, the latter must be released before the robot can be returned to theMOTORS ON mode again. This is a safety function designed to prevent the enablingdevice from being rendered inactive.When the enabling device is released, the drive power to the motors is switched off, thebrakes are applied and the robot reverts to the MOTORS OFF mode.If the enabling device is reactivated, the robot changes to the MOTORS ON mode.7.5 Hold-to-run controlThis function is always active when the operating mode selector is in the MANUALFULL SPEED position. It is possible to set a parameter to make this function activealso when the operating mode selector is in the MANUAL position.8 Product Manual