Hello Roboteers,

I am working with a project that involves a UR10e and two work stations. To have a good work flow we will use two identical work stations, so that an operator can prepare a product on one station while the robot does its thing on the other, and then switch places once they are done (see pictures below). 

For this to work in a safe way, we want a safety scanner to stop when someone enters the zone the robot is working in. BUT we also want the operator to be able to work at the other work station without the robot stopping. The robot will pause once it is done on one side, and the operator then have to press a button before
it starts working on the other work station. 

Is this possible to achieve with the safety inputs available on the UR10e? With only one pair of Safeguard Stop inputs, I don't see how I could setup two separate safety zones that work independently. 

Best,
Tor

@tor_odigo
Maybe you could use 2 IO controlled switch which could by pass the safeguard of each zone. Then you can activate or deactivate the safeguard from your program.