Universal Robots UR16e

4.4. Freedrive
Description 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 (see
Operational modeon page127).
As the robot arm in Freedrive approaches a predefined limit or plane (see
5.8. Software Safety Restrictionson page146), resistance increases.
This makes pulling the robot into position feel heavy.
WARNING
Injury to personnel can occur due to unexpected motion.
•
Verify the configured payload is the payload being
used.
•
Verify the correct payload is securely attached to the
tool flange.
Enabling Freedrive You can enable Freedrive in the following ways:
•
Use the 3PE Teach Pendant
•
Use the Freedrive on robot (see 5.7. Safety I/Oon page141)
•
Use I/O Actions (see 8.4. I/O Setupon page289)
NOTICE
Enabling Freedrive while you are moving the robot arm, can
cause it to drift leading to faults.
•
Do not enable Freedrive while you are pushing or
touching the robot.
3PE Teach Pendant To use the 3PE TP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.
UR16e 116 User Manual
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