--- title: Programming Flange Configuration description: "After mounting the programming flange, register it in SmoothTool X — see [Add the Programming Flange](#add-the-programming-flange-in-productname). Adding it is all that is needed on an e-series robot: SmoothTool X takes over as the robot's tool controller and applies the tool…" url: "https://hub.smooth-robotics.com/docs/getting-started-programming-flange/" updated: "2026-09-23" category: Getting Started / External Devices --- # Programming Flange Configuration After mounting the programming flange, register it in SmoothTool X — see [Add the Programming Flange](#add-the-programming-flange-in-productname). Adding it is all that is needed on an e-series robot: SmoothTool X takes over as the robot's tool controller and applies the tool settings the flange needs, so there is nothing to set by hand in PolyScope X. A UR8-long robot needs one extra step, because safety settings can only be changed in PolyScope X's own Safety page: see [Enable Freedrive on UR8-long](#enable-freedrive-on-ur8-long). ## If the flange does not respond SmoothTool X applies these settings for you when you add the flange. Check them only when the flange's buttons do nothing — if they have been changed elsewhere, or another tool controller has taken the tool connector, reclaiming tool control from the **External devices** page restores them. 1. From the **Application** view, tap **Communication**. ![Application page — tap Communication](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-programming-flange-eseries-eseries-application-communication.webp) 1. In the left sidebar, tap **Tool Flange** under **Robot**. ![Tool Flange page](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-programming-flange-eseries-eseries-tool-io.webp) 1. The page shows **Controlled by SmoothTool X**, and **Tool Output** reads **24 V** and is read-only. Both are set by SmoothTool X; if the page instead names another tool controller, the flange will not work until tool control is reclaimed. ![Tool Flange page — Tool Output fixed at 24 V under SmoothTool X's control](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-programming-flange-eseries-eseries-tool-output-open.webp) 1. On an e-series robot, **DI 0** carries the **Freedrive** action preset. SmoothTool X re-applies this at every program start, so it does not need to be set by hand. ![DI 0 Action Preset showing Freedrive](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-programming-flange-eseries-eseries-action-preset-open.webp) ## Enable Freedrive on UR8-long A UR8-long robot takes Freedrive from a safety input instead of the tool connector's action preset, and safety settings can only be changed in PolyScope X. Configure the input pair once, then tell SmoothTool X which pair you used when you add the flange (**Safety Input Pair** in the dialog). Which pair that is depends on the robot and on how the flange is wired. A flange wired to the tool connector uses the tool input pair (**DI 0 / DI 1**, under **Tool Inputs**); one wired through the control box uses a configurable pair (**CI**, under **Wired Inputs**) — see [Installing the Jumper Cable](#installing-the-jumper-cable-ur8l-pre-2026-units-only). Check which inputs your robot exposes before picking one. Note The safety page requires a password to unlock. The default safety password is **ursafe**. 1. Open the **Safety** page from the Application view. In the left sidebar, navigate to **Safety I/O** and open the tab holding your pair — **Tool Inputs** or **Wired Inputs**. Tap **Unlock** and enter the safety password. ![Safety I/O Tool Inputs — tap Unlock](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-programming-flange-ur8l-safety-page.webp) 1. Tap the **Function** dropdown for your input pair. The screenshots below show the tool pair **DI 0 / DI 1** as an example. ![Safety I/O Tool Inputs unlocked — tap the Function dropdown for DI 0 / DI 1](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-programming-flange-ur8l-unlocked-safety.webp) 1. Select **Freedrive Enabled Input**. ![Select Freedrive Enabled Input](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-programming-flange-ur8l-unlocked-safety-select-freedrive.webp) 1. Tap **Apply**, then **Lock** to save and re-lock the safety settings. ## Add the Programming Flange in SmoothTool X Note Only one programming flange can be active in SmoothTool X at a time. If one is already listed under **External devices**, use the edit button to update its settings rather than adding a new one. 1. Open **SmoothTool X Settings** from the Application view and tap **External devices** under **Components** in the sidebar. ![External devices page — no devices added](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-programming-flange-eseries-external-devices-page.webp) 1. Tap **+ Add external device**. In the dialog, select **Programming Flange**. ![Add external device — select Programming Flange](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-programming-flange-eseries-add-external-device-select-flange.webp) 1. Review the **Button Output (DO/CO)** settings and tap **Done**. ![Programming Flange settings — tap Done](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-programming-flange-eseries-add-flange-settings.webp) Note On older UR8-long units that do not have safety available in the tool flange, this Button Output can be enabled to pass the signal through the arm and enable Freedrive. See [Installing the Jumper Cable](#installing-the-jumper-cable-ur8l-pre-2026-units-only) for the wiring required to connect it. 1. The Programming Flange now appears in the **External devices** list and is active. ![External devices — Programming Flange configured and active](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-programming-flange-eseries-flange-added-and-active.webp) ## Installing the Jumper Cable (UR8L, pre-2026 units only) UR8-long units manufactured before 2026 require a jumper cable to be installed inside the control box to enable Freedrive. Connect the jumper cable using the wiring diagram below. If digital output 0 is already occupied, use the next available output, or one of the configurable outputs. ![UR8L jumper cable installation wiring diagram scaled](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-ur8l-jumper-cable-installation-wiring-diagram-scaled-1.webp) Connect the selected Digital Output/Configurable Output to 2 Configurable Inputs ![UR8L jumper cable installation scaled](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-ur8l-jumper-cable-installation-scaled-1.webp) Example of possible wiring inside the control box after installing the jumper cable