Icons You can lock one or more of the axes allowing the TCP to move in a particular
direction, as defined in the table below.
All axes are free
Movement is allowed through all axes.
Plane
Movement is only allowed through the X-
axis and Y-axis.
Translation
Movement is allowed through all axes,
without rotation.
Rotation
Movement is allowed through all axes, in a
spherical motion, around the TCP.
CAUTION
Moving the robot arm in some axes when a tool is attached, can
present a pinch point.
•
Use caution when moving the robot arm in any axis.
4.5. Backdrive
Description Backdrive is used to force specific joints to a desired position without
releasing all brakes in the robot arm.
This is sometimes necessary if the robot arm is close to collision and the
vibrations that accompany a full restart are not desired.
The robot joints feel heavy to move, while Backdrive is in use.
You can use any of the following methods to enable Backdrive:
•
3PE Teach Pendant
•
3PE device/switch
•
Freedrive on robot
User Manual 119 UR16e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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