MOTOR ON mode again. This is a safety function to prevent the enabling device from
being rendered inactive.
When the enabling device is released, the drive power to motors is removed, the brakes
are applied and the control system reverts to the MOTOR OFF mode.
On renewed activation of the enabling device the control system changes to the MOTOR
ON mode.
5.1.4 Hold-to-run control
This function is activated in MANUAL or MANUAL FULL SPEED mode. It can be
activated by two different ways depending on how the "hold-to-run" parameter is defined
at installation.
Besides activating the enabling device, one of the buttons PROG ST, INST ST or EXEC
BW on the teach pendant must be held down in order to execute a program. When the
button is released the movements of the axis (axes) stops and the robot system remains in
MOTOR ON mode. When the button is pressed down again, program execution
continues.
In MANUAL mode, the Hold-to-run control can be deactivated by changing the
parameter at installation. Deactivated Hold-to-run means that program execution is
stopped by pressing the STOP button on the teach pendant.
5.1.5 Connection of GENERAL MODE SAFEGUARDED STOP; GS
The GS connection is provided for interlocking of external safety devices such as light
curtains, light beams or sensitive mats. The GS is active regardless of the position of the
operating mode selector.
When this connection is opened the robot changes to MOTOR OFF mode. To reset to
MOTOR ON mode the device which initiated the safety stop must be interlocked in
accordance with applicable safety regulations. This should normally be done in such a
way that the stop has to be reset at the device itself.
5.1.6 Connection of AUTO MODE SAFEGUARDED STOP; AS
The AS connection is provided for interlocking of external safety devices such as light
curtains, light beams or sensitive mats for external use by the system builder. The AS is
especially intended for use in AUTO mode, during normal program execution.
The AS is disconnected when the key-switch is in the MANUAL or
MANUAL FULL SPEED position.
5.1.7 Connection of MANUAL MODE SAFEGUARDED STOP; MS
The MS connection is provided for interlocking of external safety devices such as light
curtains, light beams or sensitive mats for external use by the system builder. The MS is
especially intended for additional enabling devices.
Safety 1KB 2000 1KB 3000
7 1KB 3200 1KB 6000
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