PolyScope X: Using I/O for Mode Selection

The robot can be configured to switch between operational modes without using the Teach Pendant. This means that using the Teach Pendant is prohibited when switching from Automatic mode to Manual mode and vice versa.

Switching modes without using the Teach Pendant requires safety I/O configuration and a secondary device as a mode selector.

The mode selector can be a key switch with a redundant electrical layout or with signals from a dedicated safety PLC.

Using the mode selector, such as a key switch, prevents the Teach Pendant from being used to switch between modes.

1. Connect your mode selector to the inputs as shown in the image below.

2. Verify the mode selector is correctly connected and configured.

Unlock the safety I/O screen to configure the safety inputs for the secondary device.

1. In the main navigation, tap Application.

2. Select Safety and tap Unlock.

   When prompted, enter your password to unlock the Safety screen.

   If you have not previously defined a password, use the default password: ursafe.

3. Under Safety I/O, select Control Box Inputs.

4. Select one of the input signals by tapping one of the Input drop-down menu options.

5. In the drop-down menu, select Operational Mode.

6. Tap Apply and allow the robot to restart.

7. Tap Confirm Safety Configuration.

   You can only use the secondary device to select and/or switch between operational modes.

Once the input is assigned to the secondary device, switching modes via the Teach Pendant is disabled. If you attempt to switch modes with the Teach Pendant, a message appears confirming that the Teach Pendant cannot change the operational mode.