Teach Pendant Configuration

Description

In the Hardware section, select the Teach Pendant type connected to the Control Box so the robot's safety system knows what hardware to expect at power-up.

Your selection must match the physically connected hardware. Otherwise the safety system can expect an emergency stop source that is not present, and the robot cannot start.

The selections are:

  • 3PE Enabled. The robot operates with a three‑position enabling Teach Pendant (3PE TP).

  • None. No Teach Pendant is connected.

 
 

For safety reasons, the robot does not start if the selection does not reflect the connected hardware.

 

3PE Enabled

The connected Teach Pendant has an integrated Three-Position Enabling Device (3PE TP). The 3PE buttons are a safety‑critical interface. In Manual Mode, hold one of the two underside enabling buttons at the light-press position to allow motion. When you release or fully press the button, the robot immediately performs a Category 2 safety stop (SF19 – 3PE Stop).

 

These are its main characteristics:

  • Unlocks High Speed Manual Mode through the slider in the footer, so TCP and elbow speed can temporarily exceed 250 mm/s during teaching.

  • Required to use Backdrive through the physical 3PE switch and to enable Freedrive through the rapid light-press, release, light-press, hold gesture.

  • Plug-and-play; no URCap required.
None

The None option supports setups where a Teach Pendant is not required or physically present. This enables more streamlined and flexible deployments, especially in automated or remote-controlled environments.

It gives you three key benefits:

  • Supports headless configurations where no Teach Pendant is used.

  • Simplifies hardware requirements for minimal setups.

  • Improves start-up flexibility by removing dependency on Teach Pendant presence.

 
How to access Hardware

  1. Tap Hardware in the left panel of the Safety screen.

  2. Unlock the main screen at the top right, enter your safety password, and tap Confirm.

  3. On the central panel, tap the Teach Pendant field and select an option from the drop-down menu.
    Selecting connected Teach Pendant in PolyScope X

 

  1. Tap Apply beside the Lock button.

  2. Tap Apply and restart in the Apply Safety Configuration pop-up.

  3. The Confirmation of Applied Safety Configuration pop-up appears. Tap Revert or Confirm Configuration.
    Confirm configuration of Teach Pendant