Universal Robots E Series - Using the Freedrive Button; Using the Freedrive Button on the Move Tab Screen; Enabling Freedrive: 3 PE Teach Pendant

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Use the Freedrive button.
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Use the Freedrive button on the Move Tab screen (see 25.2.4. Freedriveon page240).
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Use I/O Actions (see I/O Actions and I/O Tab Control).
WARNING
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Do not enable Freedrive when you are pushing or touching the robot, as this
may cause the robot to drift.
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Do not switch axes while moving the robot in Freedrive mode, as this my
cause the robot to drift.
18.1.1. Using the Freedrive Button
1. Press and hold down the Freedrive button located on the Teach Pendant.
2. When the Freedrive panel appears in PolyScope, select the desired movement type for the
robot arm’s joints. Or use the list of axes to customize the movement type.
3. You can define the type of feature if required, by selecting an option from the Feature
dropdown list.
The robot arm can stop moving if it approaches a singularity scenario. Tap All axes are free
in the Freedrive panel to resume movement.
4. Move the robot arm as desired.
18.1.2. Using the Freedrive Button on the Move Tab Screen
1. In the Header, tap Move.
2. In the Robot panel, tap Freedrive.
3. When the Freedrive panel appears, select the desired movement type for the robot arm’s
joints. Or use the list of axes to customize the movement type.
4. You can define the type of feature if required, by selecting an option from the Feature
dropdown list.
The robot arm can stop moving if it approaches a singularity scenario. Tap All axes are free
in the Freedrive panel to resume movement.
5. On the Freedrive panel , press and hold Freedrive to move the robot arm.
18.2. Enabling Freedrive: 3PE Teach Pendant
To use the 3PE button to freedrive the robot arm:
1. Rapidly light-press, then light-press-and-hold, the 3PE button.
Now you can pull the robot arm into a desired position, while the light-press is maintained.
User Manual 113 UR5e
18.Freedrive
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