Universal Robots PolyScope X UR16e User Manual page 56

1.3.4. Three Position Enabling Device
Description
Operational Using a Three-Position Enabling device requires the use of an Operational Mode
Mode Switch switch.
The illustration below shows an Operational Mode switch.
UR16e PolyScope X
The robot arm is equipped with an enabling device in the form of the 3PE Teach
Pendant.
The Control Box supports the following enabling device configurations:
• 3PE Teach Pendant
• External Three-Position Enabling device
• External Three-Position device and 3PE Teach Pendant
The illustration below shows how to connect a Three-Position Enabling device.
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Note: The two input channels for the Three-Position Enabling Device input have a
disagreement tolerance of 1 second.
NOTICE
The UR robot safety system does not support multiple external
Three-Position Enabling Devices.
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Configurable Inputs
3-Position Switch
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CI0 CI4
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CI1 CI5
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CI2 CI6
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CI3 CI7
Configurable Inputs
Operational mode Switch
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CI0 CI4
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CI1 CI5
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CI2 CI6
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CI3 CI7
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Part I Hardware Installation Manual
User Manual