VAL_EnableManualMove

FUNCTION VAL_EnableManualMove : BOOL

This function enables movement of the robot when manual mode is selected.
It provides the hold-to-run function described hereafter:

Although robot speed is limited and user shall activate the 3-position switch, an additional action is required
as per ISO 10218-1:2011 - Robots and robotic devices -- Safety requirements for industrial robots - Chapter 5.7.3:

Manual control of the robot from inside the safeguarded space shall be performed with a reduced speed in conjunction with either of the following:

hold-to-run controls in conjunction with an enabling device in accordance with 5.8 [Pendant controls]
for program verification only, a start/stop control in conjunction with an enabling device in accordance with 5.8 [Pendant controls]

This function is effective only when Stäubli Teach Pendant is removed and replaced by the delivered shorting plug.
The controller must be configured to have user-supplied teach pendant in use (file iomap.cfx on controller).
Manual operation mode must be selected from user-supplied teach pendant

Syntax

Definition:

FUNCTION VAL_EnableManualMove : BOOL
VAR_INPUT
    EnableMove  : BOOL := FALSE;
END_VAR

Inputs

Name	Type	Description
EnableMove	BOOL	If this input is TRUE, the robot movement are enabled. When released, the robot stops on the programmed trajectory

Return value

Name	Type	Description
VAL_EnableManualMove	BOOL