This article is for robots running PolyScope X. If your robot runs PolyScope 5, see How to Initialize the Robot Arm (PolyScope 5).
After powering on your robot, you need to initialize the arm before it can move. Initialization releases the joint brakes and prepares the arm for operation.
Status Indicators
The button in the lower-left corner of the teach pendant shows the arm's current state:
Icon & Color | Description |
 | Off — The arm is stopped. |
 | Locked — The arm is powered on but the brakes are engaged. |
 | Active — The arm is ready for operation. |
Steps
Make sure the robot arm is not touching anything (e.g., a table or fixture). A collision during initialization can damage a joint gearbox.
In the lower-left corner of the teach pendant, tap the Robot State Off button. The Initialize screen opens.
Tap Power On. The status changes to locked (brakes engaged).
Tap Unlock. The joint brakes release — you'll hear a sound and see slight arm movement. The status changes to ready (green).
On the UR20, you need to hold the yellow 3-Position Enabling (3PE) button on the teach pendant while tapping Unlock. See UR20 3PE Switch Usage for details.
Tap the dark blue bar to the right of the Robot State button to close the Initialize screen.
How to Verify
The Robot State button in the lower-left corner should now show the green ready icon. The robot arm is ready for operation.
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