Universal Robots E Series Original Instructions

18.1.1. Using the Freedrive Button 113
18.1.2. Using the Freedrive Button on the Move Tab Screen 113
18.2. Enabling Freedrive: 3PE Teach Pendant 113
19.Backdrive 114
19.1. Enabling Backdrive: Standard Teach Pendant 114
19.2. Enabling Backdrive: 3PE Teach Pendant 114
20.Operational Mode Selection 115
20.1. Operational Modes 115
20.2. Three-Position Enabling Device 117
20.2.1. Manual High Speed 117
21.Safety Configuration 119
21.1. Safety Settings Basics 119
21.1.1. Accessing Safety Configuration 119
21.2. Setting a Safety Password 120
21.3. Changing the Safety Configuration 120
21.4. Applying New Safety Configuration 121
21.5. Safety Checksum 121
21.6. Safety Menu Settings 121
21.7. Robot Limits 121
21.8. Safety Modes 123
21.9. Tolerances 124
21.10. Joint Limits 124
21.11. Planes 125
21.11.1. Modes 125
21.11.2. Configuring Safety Planes 126
21.11.3. Elbow 127
21.11.4. Color Codes 127
21.12. Freedrive 128
21.12.1. Using the Freedrive Button 128
21.13. Backdrive 128
21.13.1. Enabling Backdrive 128
21.14. Tool Position 129
21.15. Tool Direction 130
21.15.1. Limit Properties 131
21.15.2. Tool Properties 132
UR5e User Manual
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Universal Robots E Series Specifications

General

Degrees of Freedom	6
IP Rating	IP54
Programming	Polyscope graphical user interface
Payload	3 kg, 5 kg, 10 kg, 12.5 kg, 16 kg (depending on model)
Reach	500 mm to 1300 mm
Joint Range	± 360º (all joints)
Operating Voltage	100-240 VAC, 50-60 Hz
Communication Interfaces	Ethernet
Safety Standards	ISO 10218-1, ISO/TS 15066
Repeatability	+/- 0.03 mm (UR3e, UR5e, UR10e, UR16e)