Yellow & Black
Normal Plane (B)
Blue & Green
Trigger Plane (C)
Black Arrow
The side of the plane the tool and/or elbow is allowed to be on (For Normal Planes)
Green Arrow
The side of the plane the tool and/or elbow is allowed to be on (For Trigger Planes)
Gray Arrow
The side of the plane the tool and/or elbow is allowed to be on (For Disabled Planes)
21.12. Freedrive
Freedrive allows the robot arm to be manually pulled into desired positions and/or poses. The
joints move with little resistance because the brakes are released. While the robot arm is being
moved manually, it is in Freedrive mode (see 20.1. Operational Modeson page115). As the robot
arm in Freedrive Mode approaches a predefined limit or plane (see on page126), resistance
increases. This makes pulling the robot into position feel heavy. You can enable Freedrive in the
following ways:
•
Use the Freedrive Button
•
Use I/O Actions (see )
•
Use the Freedrive button on the Move Tab screen (see 25.2.4. Freedriveon page240)
21.12.1. Using the Freedrive Button
1. Press and hold down the Freedrive Button located on Teach Pendant.
2. Move the robot arm as desired.
21.13. Backdrive
During initialization of the robot arm, minor vibrations may be observed when the robot brakes are
released. In some situations, such as when the robot is close to collision, these tremors are
undesirable and the Backdrive feature can be used to forcefully move specific joints to a desired
position without releasing all brakes in the robot arm.
21.13.1. Enabling Backdrive
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.
UR5e 128 User Manual
21.Safety Configuration
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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