Installation and Commissioning
Installation and Commissioning 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
SafetyWhen the Hold-to-run control is active, the enabling device and the Hold-to-run buttonon the teach pendant must be depressed in order to execute a program. When the buttonis released, the axis (axes) movements stop and the robot remains in the MOTORS ONmode.Here is a detailed description of how to execute a program in Hold-to-run control:• Activate the enabling device on the teach pendant.• Choose execution mode using the function keys on the teach pendant:- Start (continuous running of the program)- FWD (one instruction forwards)- BWD (one instruction backwards)• Wait for the Hold-to-run alert box.• Activate the Hold-to-run button on the teach pendant.Now the program will run (with the chosen execution mode) as long as the Hold-torunbutton is pressed. Releasing the button stops program execution and activating thebutton will start program execution again.For FWD and BWD execution modes, the next instruction is run by releasing andactivating the Hold-to-run button.It is possible to change execution mode when the Hold-to-run button is released andthen continue the program execution with the new execution mode, by just activatingthe Hold-to-run button again, i.e. no alert box is shown.If the program execution was stopped with the Stop button on the teach pendant, theprogram execution will be continued by releasing and activating the Hold-to-runbutton.When the enabling device on the teach pendant is released, the sequence describedabove must be repeated from the beginning.7.6 General Mode Safeguarded Stop (GS) connectionThe GS connection is provided for interlocking external safety devices, such as lightcurtains, light beams or sensitive mats. The GS is active regardless of the position ofthe operating mode selector.When this connection is open the robot changes to the MOTORS OFF mode. To resetto MOTORS ON mode, the device that initiated the safety stop must be interlocked inaccordance with applicable safety regulations. This is not normally done by resettingthe device itself.Product Manual 9
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SafetyWhen the Hold-to-run control is active, the enabling device <strong>and</strong> the Hold-to-run buttonon the teach pendant must be depressed in order to execute a program. When the buttonis released, the axis (axes) movements stop <strong>and</strong> the robot remains in the MOTORS ONmode.Here is a detailed description of how to execute a program in Hold-to-run control:• Activate the enabling device on the teach pendant.• Choose execution mode using the function keys on the teach pendant:- Start (continuous running of the program)- FWD (one instruction forwards)- BWD (one instruction backwards)• Wait for the Hold-to-run alert box.• Activate the Hold-to-run button on the teach pendant.Now the program will run (with the chosen execution mode) as long as the Hold-torunbutton is pressed. Releasing the button stops program execution <strong>and</strong> activating thebutton will start program execution again.For FWD <strong>and</strong> BWD execution modes, the next instruction is run by releasing <strong>and</strong>activating the Hold-to-run button.It is possible to change execution mode when the Hold-to-run button is released <strong>and</strong>then continue the program execution with the new execution mode, by just activatingthe Hold-to-run button again, i.e. no alert box is shown.If the program execution was stopped with the Stop button on the teach pendant, theprogram execution will be continued by releasing <strong>and</strong> activating the Hold-to-runbutton.When the enabling device on the teach pendant is released, the sequence describedabove must be repeated from the beginning.7.6 General Mode Safeguarded Stop (GS) connectionThe GS connection is provided for interlocking external safety devices, such as lightcurtains, light beams or sensitive mats. The GS is active regardless of the position ofthe operating mode selector.When this connection is open the robot changes to the MOTORS OFF mode. To resetto MOTORS ON mode, the device that initiated the safety stop must be interlocked inaccordance with applicable safety regulations. This is not normally done by resettingthe device itself.Product Manual 9
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