Universal Robots PolyScope X UR16e User Manual page 114

Collaborative
Operation 2011
edition, clause
5.10.3
UR16e PolyScope X
Technique Explanation
This is essentially individual
and direct personal control
while the robot is in
automatic mode. Hand
guiding equipment shall be
located close to the end-
effector and shall have:
• an Emergency Stop
Hand-
pushbutton
guiding
• a 3-position enabling
device
• a safety-rated
monitored stop
function
• a settable safety-rated
monitored speed
function
Part I Hardware Installation Manual
UR robots do not provide hand-
guiding for collaborative operation.
Hand-guided teach (free drive) is
provided with UR robots but this is for
programming in manual mode and not
for collaborative operation in
automatic mode.
114
UR e-Series
User Manual