Universal Robots UR e Series User Manual

4.4. 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 safely supports the following enabling device configurations:
•
3PE Teach Pendant
•
External Three-Position Enabling device
•
External Three-Position device and 3PE Teach Pendant
The standard Teach Pendant is not supported by the UR20 and UR30 robots.
The illustration below shows how to connect a Three-Position Enabling device. See
Teach Pendant with 3-Position Enabling Device chapter for more.
24V
CI1
24V
CI2
24V
CI3
24V
CI0
24V
CI5
24V
CI6
24V
CI7
24V
CI4
Configurable Inputs
3-Position Switch
Note:The two input channels for the Three-Position Enabling Device input have a
disagreement tolerance of 1 second.
NOTICE
The Universal Robots e-Series safety system does not support
multiple external Three-Position Enabling Devices.
Operational
Mode Switch
Using a Three-Positon Enabling device requires the use of an Operational Mode switch.
The illustration below shows an Operational Mode switch. See 16.9 Operational Mode
Selection on page134
24V
CI1
24V
CI2
24V
CI3
24V
CI0
24V
CI5
24V
CI6
24V
CI7
24V
CI4
Configurable Inputs
Operational mode Switch
UR10e 54 User Manual
4. Electrical Interface
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Universal Robots UR e Series Specifications

General

Brand	Universal Robots
Model	UR e Series
Category	Robotics
Language	English