Initialization prepares the robot arm for operation and releases the joint brakes.
In this article, you'll learn:
What the different initialization statuses mean
Initialize the Robot Arm in PolyScope 5
In 2025, Universal Robot's introduced PolyScope X, a new major version to their operating system as a successor to PolyScope 5. PolyScope X requires new controller hardware. This section is specific to PolyScope 5.
Robot Arm Initialization Status
On the teach pendant in the lower left-hand corner, the Initialize button indicates the status of the robot arm using colors:
🔴 Red Power off -- The robot arm is in a stopped state.
🟡 Yellow Idle -- The robot arm is on, but not ready for normal operation.
🟢 Green Normal -- The robot arm is on and ready for normal operation.
Step 1: Power On the Robot Arm
Ensure the robot arm is not touching an object (e.g., a table) because a collision
between the robot arm and an obstacle might damage a joint gearbox.
In the lower left-hand corner, press the Red Power off button. This will open the "Initialize" screen.
In the "Initialize" screen, press the ON button. This will put the robot into an idle state.
Step 2: Start the Robot Arm
In the "Initialize" screen, press the START button. This will release the joint brakes and the robot arm is now ready for operation. Note that robot arm start up is accompanied by sound and slight movements as joint brakes are released.
For the UR20 model, you will need to hold the yellow 3-Position Enabling (3PE) button on the teach pendant to press Start. Learn more about the 3PE switch.
Press Exit to close the "Initialize" screen.
The robot arm is now powered on and ready for normal operation.
Initialize the Robot Arm in PolyScope X
In 2025, Universal Robot's introduced PolyScope X, a new major version to their operating system as a successor to PolyScope 5. PolyScope X requires new controller hardware. This section is specific to PolyScope X.
Robot Arm Initialization Status
On the teach pendant in the lower left-hand corner, the Initialize button indicates the status of the robot arm using icons and colors:
Icon & Color | Description |
 | The robot arm is in a stopped state. |
 | The robot arm is on, but not ready for normal operation. The brakes are locked for safety. |
 | The robot arm is on and ready for normal operation. The brakes are released and the arm joints can move. |
Step 1: Power On the Robot Arm
Ensure the robot arm is not touching an object (e.g., a table) because a collision
between the robot arm and an obstacle might damage a joint gearbox.
In the lower left-hand corner, press the Robot State Off button to open the "Initialize" screen then press the Power On button. This will put the robot into a locked state.
Step 2: Unlock the Robot Arm
In the "Initialize" screen, press the Unlock button. This will release the joint brakes and the robot arm is now ready for operation. Note that robot arm start up is accompanied by sound and slight movements as joint brakes are released.
For the UR20 model, you will need to hold the yellow 3-Position Enabling (3PE) button on the teach pendant to press Start. Learn more about the 3PE switch.
The robot arm is now powered on and ready for normal operation.
Tap on the dark blue bar to the right of the Robot State button to close the "Initialize" screen.
