Date:  July 17, 2019
To: All Universal Robots Users
Product(s) Affected:  Polyscope 5.4.0 for e-Series robots

Summary:
The purpose of this message is to provide notification of an important Polyscope product update. Universal Robots has released Polyscope version 5.4.2 for e-Series robots. In version 5.4.2, in order to use “Automatic Mode Safeguard Stop,” a 3-position enabling device must be connected to the robot and configured in the safety settings. The 3-position enabling (3PE) device is active in manual mode only. The connected safeguard is active only in the automatic mode with “Automatic Mode Safeguard Stop” is selected as the configuration. This is a change from the previous release (5.4.0) in which a 3-position enabling device was not required when using “Automatic Mode Safeguard Stop.” UR strongly recommends updating to 5.4.2 if 5.4.0 is currently loaded on your robot(s).

Overview:

Polyscope software version 5.4.0, release on June 5^th, 2019, provides the following safety input configurations choices:

1. Safeguard Stop
   When selected, the safeguard connected to the UR control will be active in ALL modes, e.g. active all the time.

2. Automatic Mode Safeguard Stop
   When “Automatic Mode Safeguard Stop” is visible as a selection, the safeguard stop can be configured only to be active when in the automatic mode.  This means that the safeguard’s protective function is active ONLY when in automatic mode.
   
   

   Version 5.4 allows selection of Automatic Mode Safeguard Stop without requiring the connection and use of a 3‑position enabling device when in manual mode. This means that the connected safeguard is active ONLY in automatic mode.

   
   Version 5.4.2 will require a 3-position enabling device to be connected and configured for the “Automatic Mode Safeguard Stop” to be shown as a choice. The 3-position enabling (3PE) device will be active in manual mode only. The connected safeguard will be active only in the automatic mode when “Automatic Mode Safeguard Stop” is selected as the configuration.
   
   UR strongly recommends updating from 5.4 to 5.4.2 software.  
   To get version 5.4.2, click on the following link: Software 5.4.2
   NOTE: There is no 5.4.1 software, 5.4.2 became available before 5.4.1 was released.

3. 3-position Enabling Device (3PE) Stop
   When selected, the 3-position enabling (3PE) device that is configured and connected will NOT require a reset upon its release or compression.  Once the enabling device is again in the “ON” position, manual operation may continue without a reset.

Software Affected: Polyscope 5.4.0