Universal Robots UR16e

Freedrive on robot To use Freedrive on robotto freedrive the robot arm:
1. Press-and-hold the button of switch configured for Freedrive on
robot.
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 (see 4.4.1.
Freedrive Panelon page118) to resume movement.
4. Move the robot arm as desired.
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 vibrations are undesirable. Use Backdrive
to force specific joints to a desired position without releasing all brakes in
the robot arm.
For Backdrive methods, see 4.5. Backdriveon page119
User Manual 117 UR16e
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