Universal Robots UR30 PolyScope X User Manual page 42

Freedrive A Freedrive robot symbol is located under each 3PE button, as illustrated below.
5.1. 3PE Teach Pendant Button Functions
Description
The table below describes the functions of the 3PE buttons.
Position
1
2
3
UR30 PolyScope X
NOTICE
The 3PE buttons are only active in Manual mode. In Automatic mode,
robot movement does not require 3PE button action.
Description
There is no pressure on
Release the 3PE button. It is not
pressed.
Light- There is some pressure
press on the 3PE button. It is
(Grip pressed to a middle
lightly) point.
Tight- There is full pressure on
press the 3PE button. It is
(Grip pressed all the way
tightly) down.
5. Teach Pendant with 3-Position Enabling Device
Action
Robot movement is stopped in Manual
mode. Power is not removed from the
robot arm and the brakes remain
released.
Allows your program to play when the
robot is in Manual mode.
Robot movement is stopped in Manual
mode. Robot is in 3PE Stop.
42 User Manual