Universal Robots UR3e PolyScope X User Manual page 63

7. Installation
7.5. Teach Pendant with 3-Position Enabling Device
Description
Overview of TP
User Manual
Depending on the robot generation, your Teach Pendant can be with or without a 3-
Position Enabling device (3PE).
UR20 and UR30 robots have the built-in 3PE called a 3-Position Enabling Teach
Pendant (3PE TP). The Teach Pendant without the 3PE will not work with the UR20
and UR30.
The enabling buttons are on the underside of the Teach Pendant, as illustrated below.
You can use either button, according to your preference. If the Teach Pendant is
disconnected, an external 3PE device must be connected and configured. The 3PE TP
functionality extends to the PolyScope interface, where there are additional functions
in the Header.
NOTICE
The 3PE Teach Pendant is not included with the purchase of the
OEM Control Box, so enabling device functionality is not provided.
Using a UR20, or a UR30, requires an external enabling device or a
3PE Teach Pendant when programming, or teaching, within the
reach of the robot application. See ISO 10218-2.
1. Power button
2. Emergency Stop button
3. USB port (comes with a dust cover)
4. 3PE buttons
63 UR3e PolyScope X