# Sbot Stop from SICK **URL:** \ **Category:** Technical Questions\ **Created:** [July 24, 2021, 12:37am UTC](https://forum.universal-robots.com/t/sbot-stop-from-sick/15588 "2021-07-24T00:37:22Z")\ **Posts on this page:** 8\ **Page:** 1
**Author:** ![james.phillips](https://avatars.discourse-cdn.com/v4/letter/j/9fc348/32.png) [@james.phillips](https://forum.universal-robots.com/u/james.phillips)\ **Post date:** [July 24, 2021, 12:37am UTC](https://forum.universal-robots.com/t/sbot-stop-from-sick/15588/1 "2021-07-24T00:37:22Z")
Well my robot goes into production next Friday July 30th and in my lab setting I cannot get the Sick nano scan Sbot Stop to work. Has anyone installed one of these on an E series and had success? Biggest issue is I do not have a 3PE therefore when entering the field it stops, when exiting it does not auto restart. It ask for hold down of 3PE, which I do not have hooked up. Is there a way around this? And what would the 3pe accomplish when I’ve jumped off every scenario that a switch could do. What am I missing? ---
**Author:** ![tywa](https://avatars.discourse-cdn.com/v4/letter/t/bc79bd/32.png) [@tywa](https://forum.universal-robots.com/u/tywa)\ **Post date:** [July 26, 2021, 10:06pm UTC](https://forum.universal-robots.com/t/sbot-stop-from-sick/15588/2 "2021-07-26T22:06:04Z")
Hello and thank you for your post- First-to my knowledge, having a 3pe is not a prerequisite to getting the sbot stop to work. Next-to get some clarity on your setup-are you using the URCap for the Sick product with your robot? the latest version of polyscope? Can you share the image/further info on what it is asking you regarding the 3pe that is limiting you from full functionality? Lastly-if you would like to know more about the 3pe teach pendant, I’d recommend looking through this support article as it does a great job laying out what it is for and why we offer it. [Universal Robots - Support Article for 3PE Teach Pendant](https://www.universal-robots.com/articles/ur/documentation/support-article-for-3pe-teach-pendant/) ---
**Author:** ![james.phillips](https://avatars.discourse-cdn.com/v4/letter/j/9fc348/32.png) [@james.phillips](https://forum.universal-robots.com/u/james.phillips)\ **Post date:** [July 27, 2021, 11:36am UTC](https://forum.universal-robots.com/t/sbot-stop-from-sick/15588/3 "2021-07-27T11:36:21Z")
Thank you for the response - I am using the UR cap with the SBot stop, the tool / wizard of this software works just fine. I am able to use the URcap to program the Sick scanner with the UR - I am using poly scope 5.10, so although not technically the latest version it meets the prerequisite for the product per SICKs user manual. - under Installation —\> safety —\> I/O, I cannot select automatic mode safeguard stop (per SICKs install instructions) without having another I/O selected to be 3-position switch, the safety settings in the robot do not allow this, thus my issue. I wish I had a better picture and will get one ASAP but when I enter the field it stops, when I exit the field the “power on button” for the robot in the lower left corner turns yellow and is waiting for a signal from the 3PE ---
**Author:** ![pho](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/pho/32/2275_2.png) [@pho](https://forum.universal-robots.com/u/pho)\ **Post date:** [July 27, 2021, 6:49pm UTC](https://forum.universal-robots.com/t/sbot-stop-from-sick/15588/4 "2021-07-27T18:49:41Z")
I am going to make a wild guess. Do you have a pair of configurable inputs set as “safeguard reset”? If so, there must be a safeguard reset switch connected to those two inputs. With this arrangement, the switch is required to re-enable the robot after a safeguard stop. If there are not configurable inputs set as “safeguard reset”, the robot will re-enable when the safeguard stop signal returns to the safe condition. ---
**Author:** ![james.phillips](https://avatars.discourse-cdn.com/v4/letter/j/9fc348/32.png) [@james.phillips](https://forum.universal-robots.com/u/james.phillips)\ **Post date:** [July 27, 2021, 7:19pm UTC](https://forum.universal-robots.com/t/sbot-stop-from-sick/15588/5 "2021-07-27T19:19:38Z")
![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/d/d3954fd76332ad4b0f6198b03b378cee5bf280a9.png) Per the install instructions for the SBOT Stop with UR Cap, this is the safety configuration that they are suggesting. I do not have a 3 position switch, however even with the three position switch I am confused as to how it would automatically restart once I am out of the laser scanning field if it is asking for acknowledgment from a switch. ---
**Author:** ![tywa](https://avatars.discourse-cdn.com/v4/letter/t/bc79bd/32.png) [@tywa](https://forum.universal-robots.com/u/tywa)\ **Post date:** [July 28, 2021, 2:25pm UTC](https://forum.universal-robots.com/t/sbot-stop-from-sick/15588/6 "2021-07-28T14:25:55Z")
If you do not have a 3-position switch, then might I suggest to see what happens if you leave config\_in[4], config\_in[5] unassigned? Its not clear why that would be necessary unless using a 3PE. ---
**Author:** ![james.phillips](https://avatars.discourse-cdn.com/v4/letter/j/9fc348/32.png) [@james.phillips](https://forum.universal-robots.com/u/james.phillips)\ **Post date:** [July 28, 2021, 2:41pm UTC](https://forum.universal-robots.com/t/sbot-stop-from-sick/15588/7 "2021-07-28T14:41:28Z")
So unfortunately from my understanding there has to be a 3PE assigned. In other words in the drop down “automatic mode safety stop” will not be a selection unless you have 3PE selected. I will try to get a picture of this but that is the way it is set up in the polyscope, is there a way around this? ---
**Author:** ![pho](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/pho/32/2275_2.png) [@pho](https://forum.universal-robots.com/u/pho)\ **Post date:** [July 29, 2021, 7:48pm UTC](https://forum.universal-robots.com/t/sbot-stop-from-sick/15588/8 "2021-07-29T19:48:39Z")
Thank you for the image. That clarifies a lot. The URCap has added an additional mode to be selected “Automatic Mode Safeguard Stop”. You will need to add a 3PE or equivalent to the circuit to use the Sick URCap.