Universal Robots UR3e

Collaborative
Operation 2011
edition, clause
5.10.3
Technique Explanation UR e-Series
Hand-
guiding
This is essentially individual
and direct personal control
while the robot is in
automatic mode. Hand
guiding equipment shall be
located close to the end-
effector and shall have:
•
an Emergency Stop
pushbutton
•
a 3-position enabling
device
•
a safety-rated
monitored stop
function
•
a settable safety-rated
monitored speed
function
UR robots do not provide hand-
guiding for collaborative operation.
Hand-guided teach (free drive) is
provided with UR robots but this is for
programming in manual mode and not
for collaborative operation in
automatic mode.
UR3e 106 User Manual
15.Safety Functions Table 1
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