Universal Robots UR16e

4.4.1. Freedrive Panel
Description When the robot arm is in Freedrive, a panel appears on PolyScope, as
illustrated below.
LED Freedrive
panel
The LED on the status bar of the Freedrive panel indicates:
•
When one or more joints are approaching their joint limits.
•
When the robot arm’s positioning is approaching singularity.
Resistance increases as the robot approaches singularity, making it
feel heavy to position.
UR16e 118 User Manual
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