Universal Robots UR30 PolyScope X User Manual page 158

Three- When a Three-Position Enabling Device is used and the robot is in Manual Mode,
Position movement requires pressing the Three-Position Enabling Device to the center-on position.
Enabling The Three-Position Enabling Device has no effect in Automatic Mode.
Device
A 3PE Teach Pendant (3PE TP) is recommended for programming. If another person can
be within the safeguarded space when in Manual Mode, an additional device can be
integrated and configured for the additional person's use.
Switching To switch between modes, in the Right Header, select the profile icon to display the Mode
Modes Section.
•
•
PolyScope X is automatically in Manual Mode when the Safety I/O configuration with Three-
Position Enabling Device is enabled.
UR30 PolyScope X
WARNING
•
Any suspended safeguards must be returned to full functionality before
selecting Automatic Mode.
•
Wherever possible, Manual Mode shall only be used with all persons
located outside the safeguarded space.
•
If an external mode selector is used, it must be placed outside the
safeguarded space.
•
No-one is to enter, or be within, the safeguarded space in Automatic
Mode, unless safeguarding is used or the collaborative application is
validated for power and force limiting (PFL).
NOTICE
•
Some UR robot sizes might not be equipped with a Three-Position
Enabling Device. If the risk assessment requires the enabling
device, a 3PE Teach Pendant must be used.
Automatic indicates the operational mode of the robot is set to Automatic.
Manual indicates the operational mode of the robot is set to Manual.
User Manual