1 Safety1.3.2. DANGER - Moving manipulators are potentially lethal!373HAC020993-001 Revision: G© Copyright 2004-2008 ABB. All rights reserved.1.3.2. DANGER - Moving manipulators are potentially lethal!DescriptionAny moving manipulator is a potentially lethal machine.When running the manipulator, it may perform unexpected and sometimes irrationalmovements. However, all movements are performed with great force and may seriouslyinjure any personnel and/or damage any piece of equipment located within the manipulatorworking range.EliminationAction Note1. Before attempting to run the manipulator,make sure all emergency stop equipmentis correctly installed and connected.Emergency stop equipment such as gates,tread mats, light curtains, etc.2. If possible, use the hold-to-run functionwhenever possible.The hold-to-run function is used in manualmode, not in automatic mode.How to use the hold-to-run function inRobotWare 5.0 is detailed in section Howto use the hold-to-run function in theOperating manual - IRC5 with Flex-Pendant.How to use the hold-to-run control inRobotWare 4.0 is detailed in section TheTeach Pendant unit in the User’s guide -S4Cplus.3. Make sure no personnel are present withinthe manipulator working range beforepressing the start button.
