2.2.2. Using the 3PE Buttons
Using the
3PE
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, or, in PolyScope, tap Pause.
To continue the program execution, keep the 3PE button light pressed and tap
Resume in PolyScope.
Freedrive with 3PE Buttons
Description Freedrive allows the robot arm to be manually pulled into desired positions and/or poses.
To use the
3PE button to
freedrive the
robot arm
1. Rapidly light-press, release, light-press again and keep holding the 3PE button in
this position.
Now you can pull the robot arm into a desired position, while the light-press is
maintained.
Using Move Robot into Position
Description Move Robot into Position allows the robot arm to move to that start position, after you
complete a program. The robot arm must be in the start position before you can run the
program.
UR30 21 User Manual
2.Your Robot
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