Universal Robots UR30 PolyScope X User Manual page 67

7. Electrical Interface
7.4. Three Position Enabling Device
Description 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:
The illustration below shows how to connect a Three-Position Enabling device.
Note: The two input channels for the Three-Position Enabling Device input have a
disagreement tolerance of 1 second.
Operational Using a Three-Position Enabling device requires the use of an Operational Mode switch.
Mode Switch
The illustration below shows an Operational Mode switch.
User Manual
• 3PE Teach Pendant
• External Three-Position Enabling device
• External Three-Position device and 3PE Teach Pendant
Configurable Inputs
24V
CI0
24V
CI1
24V
CI2
24V
CI3
NOTICE
The UR robot safety system does not support multiple external Three-
Position Enabling Devices.
Configurable Inputs
24V
CI0
24V
CI1
24V
CI2
24V
CI3
3-Position Switch
24V
CI4
24V
CI5
24V
CI6
24V
CI7
Operational mode Switch
24V
CI4
24V
CI5
24V
CI6
24V
CI7
67 UR30 PolyScope X