Product manual

Safety
Product Manual 9
When the Hold-to-run control is active, the enabling device and the Hold-to-run button
on the teach pendant must be depressed in order to execute a program. When the button
is released, the axis (axes) movements stop and the robot remains in the MOTORS ON
mode.
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-to-
run button is pressed. Releasing the button stops program execution and activating the
button will start program execution again.
For FWD and BWD execution modes, the next instruction is run by releasing and
activating the Hold-to-run button.
It is possible to change execution mode when the Hold-to-run button is released and
then continue the program execution with the new execution mode, by just activating
the 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, the
program execution will be continued by releasing and activating the Hold-to-run
button.
When the enabling device on the teach pendant is released, the sequence described
above must be repeated from the beginning.
7.6 General Mode Safeguarded Stop (GS) connection
The GS connection is provided for interlocking 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 open the robot changes to the MOTORS OFF mode. To reset
to MOTORS ON mode, the device that initiated the safety stop must be interlocked in
accordance with applicable safety regulations. This is not normally done by resetting
the device itself.