19.Backdrive
Backdrive is used to force specific joints to a desired position without releasing all brakes in the
robot arm.
This is sometimes necessary if the robot arm is close to collision and the vibrations that
accompany a full restart are not desired.
19.1. Enabling Backdrive: Standard Teach Pendant
1. On the Initialize screen, tap ON to start the power up sequence.
2. When the robot state is Idle, press and hold the Freedrive button. The robot state changes to
Backdrive.
3. Now you can apply significant pressure to release the brake in a desired joint.
As long as the Freedrive button is engaged/pressed, Backdrive is enabled, making the robot
joints feel heavy to move.
19.2. Enabling Backdrive: 3PE Teach Pendant
To use the 3PE button to backdrive the robot arm:
1. On the Initialize screen, tap ON to start the power up sequence.
2. When the robot state is Idle, light-press, then light-press-and-hold, the 3PE button.
The robot state changes to Backdrive.
3. Now you can apply significant pressure to release the brake in a desired joint.
As long as light-press is maintained on the 3PE button, Backdrive is enabled. The robot joints
feel heavy to move.
UR5e 114 User Manual
19.Backdrive
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