Universal Robots UR10/CB3 User Manual

1. To select the operational mode using an external mode selection device, configure the
Operational Mode input. The option to configure it will appear in the drop-down menus
once the Three-Position Enabling Device input is configured. The robot will be in
Running mode when the Operational Mode input is low and in Programming mode
when it is high.
2. To select the operational mode from Polyscope, only the Three-Position Enabling
Device input must be configured and applied to the Safety Configuration. In this case,
the default mode is Running. In order to switch to Programming mode, choose the
“Program Robot” button on the Welcome screen. To switch back to Running mode, simply
exit the “Program Robot” screen.
NOTE
• After the Safety I/O configuration with Three-Position Enabling
Device enabled is confirmed, the Welcome screen is automatically
shown. The Welcome screen is also automatically displayed when the
operational mode changes from Programming to Running.
• The physical mode selector, if used, must completely adhere to ISO 10218-
1: article 5.7.1 for selection.
• The 3-position switch, along with its behavior, performance characteristics
and operation, must thoroughly comply with ISO 10218-1: article 5.8.3 for an
enabling device.
Output Signals
For the output signals the following Safety functions can be applied. All signals return to low
when the state which triggered the high signal has ended:
System Emergency Stop
Low signal is only given when the safety system has been triggered into an Emergency
Stopped state by the Robot Emergency Stop input or Emergency Stop Button . To avoid
deadlocks, if the Emergency Stopped state is triggered by the System Emergency Stop input,
low signal will not be given.
UR10 106 User Manual
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Universal Robots UR10/CB3 Specifications

General

Brand	Universal Robots
Model	UR10/CB3
Category	Robotics
Language	English