Universal Robots E Series - Enabling Freedrive: Standard Teach Pendant

You can lock one or more of the axes allowing the TCP to move in a particular direction, as defined
in the table below.
All axes are free
Movement is allowed through all axes.
Plane
Movement is only allowed through the X-axis and Y-axis.
Translation
Movement is allowed through all axes, without rotation.
Rotation
Movement is allowed through all axes, in a spherical motion, around the TCP.
WARNING
Moving the robot arm in some axes when a tool is attached, can present a pinch
point.
18.1. Enabling Freedrive: Standard Teach Pendant
You can enable Freedrive in the following ways:
UR5e 112 User Manual
18.Freedrive
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.