Universal Robots 3PE Teach Pendant User manual

Teach Pendant with 3-
Position Enabling Device
Installation Guide
Original instructions (en)

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Installation Guide 3 Teach Pendant with 3-Position
Enabling Device
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

Contents
1.Introduction 5
1.1. About this document 5
1.2. What's in the box 5
1.3. Company Details 5
2.Product description 6
2.1. Use of Product 7
2.2. Components 7
2.3. Requirements 7
3.Cleaning your robot 8
3.1. Everyday cleaning 8
3.2. Additional cleaning 8
4.Safety 9
4.1. Safety message types 9
4.2. General safety precautions 9
5.Hardware installation 11
5.1. Required items 11
5.2. Removing the TeachPendant 11
5.3. Installing the 3PETeachPendant 12
6.Software installation 13
6.1. Configuring the 3PETeachPendant software 13
7.3PE Teach Pendant button functions 15
7.1. Using the 3PE buttons 15
7.2. Using Freedrive 16
7.3. Using Move Robot into Position 16
8.Copyright and disclaimers 18
9.Compliance 19
9.1. Shipping Materials 19
9.2. Certification of Quality 19
9.3. Third Party Certification 19
Teach Pendant with 3-Position
Enabling Device Installation Guide
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

1.Introduction
1.1. About this document
This guide describes how to install a UniversalRobots Teach Pendant with 3-Position Enabling
(3PE) Device on a UniversalRobots e-Series robot and how to configure the software.
In this document the product is also referred to as the 3PE Teach Pendant.
1.2. What's in the box
The box contains the following parts:
• 3PE Teach Pendant
• This document
1.3. Company Details
UniversalRobotsA/S
Energivej 25, 5260 Odense S, Denmark
[phone]
https://www.universal-robots.com
Installation Guide Teach Pendant with 3-Position
Enabling Device
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

2.Product description
The Teach Pendant with 3-Position Enabling Device is a UniversalRobots Teach Pendant with
built-in 3-Position Enabling Device functionality.
The 3-Position Enabling Device is accessible via the buttons on the underside of the Teach
Pendant, as illustrated below. You can use either button, according to your preference.
1 Power button 2 Emergency Stop button
3 USB port (comes with a dust cover) 4 3PE buttons
A Freedrive robot symbol is located under each 3PE button, as illustrated below.
Teach Pendant with 3-Position
Enabling Device Installation Guide
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

NOTICE
Failure to install the Teach Pendant with 3-Position Enabling Device properly can
result in damage to equipment or property.
• The 3PETeachPendant must be installed properly in order to meet
regulatory requirements.
2.1. Use of Product
The Teach Pendant with 3-Position Enabling Device is only certified for use with
UniversalRobots e-Seriescontrolboxes.
2.2. Components
The Teach Pendant with 3-Position Enabling Device consists of the following components:
• 3PETeachPendant with attached Teach Pendant cable
2.3. Requirements
The robot system software, using the 3PE Teach Pendant must be newer than V5.8.0
NOTICE
Installing an Teach Pendant with 3-Position Enabling Device in a robot system
using software version older than V5.8.0 can result in damage to equipment or
property.
• Verify your software system number before installing the Teach Pendant
with 3-Position Enabling Device.
Installation Guide Teach Pendant with 3-Position
Enabling Device
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

3.Cleaning your robot
3.1. Everyday cleaning
You can wipe away any dust/dirt/oil observed on the robot arm and/or Teach Pendant using a
cloth and one of the following cleaning agents: Water, Isopropyl alcohol, 10% Ethanol alcohol or
10% Naphtha. In rare cases, very small amounts of grease can be visible from the joint. This
does not affect the function, use, or lifetime of the joint.
3.2. Additional cleaning
Due to the added focus on cleaning your robot, UniversalRobots recommends cleaning with 70%
isopropyl alcohol (rubbing alcohol).
1. Wipe the robot with a hard twisted micro fiber cloth and 70% isopropyl alcohol (rubbing
alcohol).
2. Let the 70% isopropyl alcohol dwell on the robot for 5 minutes, and then clean the robot
using standard cleaning procedure.
DONOTUSEBLEACH. Do not use bleach in any diluted cleaning solution.
Teach Pendant with 3-Position
Enabling Device Installation Guide
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

4.Safety
4.1. Safety message types
Safety messages in this document contain information to help you avoid injury or equipment
damage. This document contains the following safety message types.
WARNING
This safety message indicates a hazardous situation that, if not avoided, could
result in death or serious injury.
CAUTION
This safety message indicates a hazardous situation that, if not avoided, could
result in minor or moderate injury.
NOTICE
This safety message indicates a situation that, if not avoided, could result in
damage to equipment or property.
4.2. General safety precautions
This section contains general safety precautions, read it before installing the 3PE Teach
Pendant.
For more information on safety, refer to the Safety section in the robot User Manual.
WARNING
Performing installation or maintenance of equipment connected to a power
source can lead to electric shock.
• Ensure that the equipment is disconnected from the power source before
performing installation or maintenance.
Installation Guide Teach Pendant with 3-Position
Enabling Device
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

WARNING
Incorrect connection of the power source or ground wires can result in equipment
damage or personnel injury.
Damage caused by invalid power source connection is not covered by warranty.
Before starting the operation:
• Ensure that the power source wiring is correct.
• Ensure that the grounding is correct.
CAUTION
Failure to perform a risk assessment before installing and operating the
3PETeachPendant can result in equipment damage or personnel injury.
• Perform a risk assessment before installing and operating the
3PETeachPendant.
NOTICE
This product is designed for use as part of the UniversalRobotse-Series robot.
General safety considerations that are valid for the UniversalRobotse-Series
robot are also valid for this product.
• For more information on safety, refer to the Safety section in the
UniversalRobotse-Series robot UserManual.
Teach Pendant with 3-Position
Enabling Device Installation Guide
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

5.Hardware installation
This section describes how to replace a standard TeachPendant with the 3PETeachPendant.
For information on configuring the 3PETeachPendant software, see 6.Software installationon
page13.
5.1. Required items
You need the following items to install the 3PETeachPendant:
• 3PETeachPendant
5.2. Removing the TeachPendant
NOTICE
Replacing the Teach Pendant can result in the system reporting a fault on start-
up.
• Always select the correct configuration for the type of Teach Pendant.
1. Power down the control box and disconnect the main power cable from the power source.
2. Remove and discard the two cable ties used for mounting the TeachPendant cables.
3. Press in the clips on both sides of the TeachPendantplug as illustrated, and pull down to
disconnect from the Teach Pendant port.
4. Fully open/loosen the plastic grommet at the bottom of the control box and remove the
TeachPendantplug and cable.
Installation Guide Teach Pendant with 3-Position
Enabling Device
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

5. Gently remove the TeachPendant cable and TeachPendant.
1 Clips 2 Plastic grommet
1 Cable ties
5.3. Installing the 3PETeachPendant
1. Place the TeachPendantplug and cable in through the bottom of the control box and fully
close/tighten the plastic grommet.
2. Push the TeachPendantplug into the Teach Pendant port to connect.
3. Use two new cable ties to mount the TeachPendant cables.
4. Connect the main power cable to the power source and power on the control box.
Teach Pendant with 3-Position
Enabling Device Installation Guide
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

6.Software installation
This section describes how to configure the 3PETeachPendant software. For information on
installing the 3PETeachPendant hardware, see 5.Hardware installationon page11.
6.1. Configuring the 3PETeachPendant software
1. On PolyScope, in the Header, tap Installation and select Safety.
2. Tap Hardware and unlock the options on the Select available hardware screen.
A password is required to unlock this screen.
Installation Guide Teach Pendant with 3-Position
Enabling Device
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

3. In the Teach Pendant drop-down list, select 3PE Enabled.
4. Tap Apply to restart the system. PolyScope continues to run.
5. Tap Confirm Safety Configuration to complete the 3PETeachPendant software
installation.
6. As the robot restarts and initializes, light-press the 3PE button and tap Start on PolyScope.
Teach Pendant with 3-Position
Enabling Device Installation Guide
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

7.3PE Teach Pendant button functions
This section describes the functions of the 3-Position Enabling Device buttons on the 3PE Teach
Pendant.
7.1. Using the 3PE buttons
The following table contains the available functions of the 3PE buttons.
Position Description Action
1 Release There is no pressure on the 3PE
button. It is not pressed.
Robot movement is stopped.
Power is not removed from the
robot arm and the brakes remain
released.
2 Light-press (Grip
lightly)
There is some pressure on the
3PE button. It is pressed to a
middle point.
Allows your program to play
when the robot is in Manual
mode.
3 Tight-press (Grip
tightly)
There is full pressure on the 3PE
button. It is pressed all the way
down.
Robot movement is stopped.
Robot is in 3PE Stop.
To play a program:
1. On PolyScope, ensure the robot is set to Manual mode, or switch to Manual mode.
2. Maintain a light-press on the 3PE button.
3. On PolyScope, tap Play to run the program.
The program runs if the robot arm is in the first position of the program.
If the robot is not in the first position of the program, the Move Robot into Position screen
appears.
To stop a program:
1. Release the 3PE button or, on PolyScope, tap Stop.
To pause a program:
1. Release the 3PE button.
The program continues when you light-press the 3PE button again.
Installation Guide Teach Pendant with 3-Position
Enabling Device
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

7.2. Using Freedrive
Freedrive allows the robot arm to be manually pulled into desired positions and/or poses. For
more information, refer to the Freedrive section in the robot User Manual.
To use the 3PE button to freedrive the robot arm:
1. Rapidly light-press, then light-press-and-hold, the 3PE button.
Now you can pull the robot arm into a desired position, while the light-press is maintained.
7.3. Using Move Robot into Position
Once your program is complete, the robot arm must return to the start position for the program to
run. Move Robot into Position allows the robot arm to move to that start position. For more
information, refer to the Move Robot into Position section in the robot User Manual.
To use the 3PE button to move the robot arm into position:
1. When your program is complete, press Play, and select Play from beginning.
On PolyScope, the Move Robot into Position screen appears displaying robot arm
movement.
2. Maintain the light-press on the 3PE button for the robot arm to move into the start position.
3. Release the 3PE button when the robot arm reaches the start position.
On PolyScope, the Play Program screen appears.
Teach Pendant with 3-Position
Enabling Device Installation Guide
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

4. If your robot is in Manual mode, maintain a light-press on the 3PE button to run your
program.
Release the 3PE button to stop your program.
5. If your robot is in Automatic mode, light-press the 3PE button one time start your program.
The program coninues to run without pressing the 3PE button.
• You can also tap Play to start your program.
Tap Stop to stop your program
Installation Guide Teach Pendant with 3-Position
Enabling Device
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

8.Copyright and disclaimers
The information contained herein is the property of UniversalRobotsA/S and shall not be
reproduced in whole or in part without prior written approval of UniversalRobotsA/S. The
information herein is subject to change without notice and should not be construed as a
commitment by UniversalRobotsA/S. This document is periodically reviewed and revised.
UniversalRobotsA/S assumes no responsibility for any errors or omissions in this document.
Copyright © 2019–2020 by UniversalRobotsA/S.
The UniversalRobots logo is a registered trademark of UniversalRobotsA/S.
NOTICE
UniversalRobots continues to improve reliability and performance of its products,
and therefore reserves the right to upgrade the product without prior warning.
UniversalRobots takes care that the content of this document is precise and
correct, but takes no responsibility for any errors or missing information.
NOTICE
UniversalRobots disclaims any liability, even if all guidelines in this document
are followed.
Teach Pendant with 3-Position
Enabling Device Installation Guide
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

9.Compliance
This section contains information about recommendations, certificates and declarations valid for
UniversalRobots Teach Pendant with integrated 3-position enabling (3PE) device.
9.1. Shipping Materials
As stated by our suppliers, UniversalRobots e-Series robots shipping materials comply with the
ISPM-15 requirements for producing wood packaging material and are marked accordingly.
9.2. Certification of Quality
UniversalRobots is certified compliant with the standard ISO 9001:2015 by BureauVeritas.
UniversalRobots e-Series robots undergo continuous internal testing and end-of-line test
procedures. UR testing processes undergo continuous review and improvement.
9.3. Third Party Certification
UniversalRobots Teach Pendant with 3-Position Enabling (3PE) Device is certified compliant with
the standard EN ISO 10218-1.
Installation Guide Teach Pendant with 3-Position
Enabling Device
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

Software Version: 5.10
Document Version: