Universal Robots UR10e PolyScope X User Manual page 59

4. Electrical Interface
4.4. Three Position Enabling Device
Description
Operational
Mode Switch
User Manual
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.
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.
Using a Three-Position Enabling device requires the use of an Operational Mode
switch.
The illustration below shows an Operational Mode switch.
Configurable Inputs
3-Position Switch
24V 24V
CI0 CI4
24V 24V
CI1 CI5
24V 24V
CI2 CI6
24V 24V
CI3 CI7
Configurable Inputs
Operational mode Switch
24V 24V
CI0 CI4
24V 24V
CI1 CI5
24V 24V
CI2 CI6
24V 24V
CI3 CI7
59 UR10e PolyScope X