Universal Robots UR12e User Manual page 226

Collaborative
Technique
Operation 2011
edition, clause
5.10.3
Hand-
guiding
UR12e
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
pushbutton
• a 3-position enabling
device
• a safety-rated
monitored stop
function
• a settable safety-rated
monitored speed
function
227
21. Safety Functions Table
UR e-Series
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.
User Manual