Connecting Devices

To Connect a 3–Position Enabling Device

Description

The 3PE Teach Pendant is not included with the purchase of the OEM Control Box, so enabling device functionality is not provided.

Using a UR20, or a UR30, requires an external enabling device or a 3PE Teach Pendant when programming, or teaching, within the reach of the robot application.
See ISO 10218-2.
 

The OEM Control Box safely supports the following enabling device configurations:

  • 3PE Teach Pendant

  • External Three-Position Enabling device

  • External Three-Position Enabling 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.

Note: The two input channels for the Three-Position Enabling Device input have a disagreement tolerance of one second.

 

To connect an Enabling Device to a UR Series robot

or
 

For complete, in depth information about the electrical configurations, see the Electrical Interface in the UR User Manual available for download at: myur.universal-robots.com/manuals

 

To Connect an Operational Mode Switch

Description

Using a Three-Position Enabling device requires the use of an Operational Mode switch.

 
 

Using a Three-Position Enabling device requires the use of an Operational Mode switch.

The illustration below shows how to connect an Operational Mode switch.