Program execution can be started with PROG ST, INST ST or EXEC BW. If the system
parameter "Hold-to-run- control" is activated, one of these buttons must be kept
activated. Releasing the button will stop program execution. In this position, the work
stop function is not active.
Test at work speed, key-switch in MANUAL FULL SPEED position
Robot movements at programmed speed can be performed as follows:
• Key-switch in MANUAL 100% position
• Programs can be started only from the teach pendant and with the enabling device
activated.
This operating mode is for testing programs at full working speed. The robot can also be
run manually by means of the joystick.
Program execution can be started with PROG ST, INST ST or EXEC BW. The "Hold-to-
run control'requires one of these buttons to be kept activated. Releasing the button will
stop program execution.
This mode may only be used by ABB trained personneL The applicable laws
and regulations of the countries where the robot is used must always be
observed.
Automatic operation; key-switch in AUTO position
Automatic operation can be started when the following conditions are fulfilled:
• Key-switch in AUTO position.
• MOTOR ON mode selected.
• The robot's external axes are synchronised.
The program can be started from the teach pendant or through a connected remote
control device.
These functions should be wired and interlocked in accordance with safety instructions
and the operator must be outside the area marked off by the safety arrangements.
The MOTOR OFF mode is activated when the position of the key-switch is changed.
(Changing from MANUAL to MANUAL FULL SPEED or AUTO mode requires a control
query on the teach pendant to be answered before the new operating mode is accepted.)
5.1.3 Enabling device
When the key-switch is in the MANUAL or MANUAL FULL SPEED position, the system
can be put into MOTOR ON mode by depressing the enabling device on the teach
pendant.
Should the system revert to the MOTOR OFF mode for any reason while the enabling
device is depressed, it must be released before the control system can be returned to the
Safety 1KB 2000 IRB3000
6 IRB 3200 IRB 6000
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