Hello I am looking for some advice for a reasonable cost enabling device that can attach to the teach pendant of a UR- 10 whenthe task is a non-collaborative one for teaching and verifying programs. (payload is a sharp object, PFL cannot reduce risk toacceptable levels at minimum settings) . A more detailed description is below, Thank you for any help ! We are using a UR-10 robot for handling sharp sheet metal parts, the nature of the parts makes it such that the thresholds for biomechanical limits in ISO-TS15066 are greatly exceeded even when PLF settings are at the minimum. For automatic mode (Normal operation) we are using an existing enclosure and safety system (safety controller monitors dual channel door switch chain, opens safeguard stop if chain is open). Our risk analysis shows that if a person is to be inside the restricted area, we will require a 3 position enabling device (deadman switch). This will require a selector that sets reduced mode, and switches the safeguard stop circuit to the enabling device in the place of the door switch chain).