Universal Robots UR16e

3PE Teach Pendant To use the 3PE TP button to backdrive the robot arm.
1. On the Initialize screen, tap ON to start the power up sequence.
2. When the robot state is Teach Pendant 3PE Stop, light-press, then
light-press-and-hold, the 3PE TP button.
The robot state changes to Backdrive.
3. Now you can apply significant pressure to release the brake in a
desired joint to move the robot arm.
As long as light-press is maintained on the 3PE button, Backdrive is
enabled, allowing the arm to move.
3PE device/switch To use a 3PE device/switch to backdrive the robot arm.
1. On the Initialize screen, tap ON to start the power up sequence.
2. When the robot state is Teach Pendant 3PE Stop, light-press, then
light-press-and-hold, the 3PE TP button.
The robot state changes to System 3PE Stop.
3. Press and hold the 3PE device/switch.
The robot state changes to Backdrive.
4. Now you can apply significant pressure to release the brake in a
desired joint to move the robot arm.
As long as the hold is maintained on both the 3PE device/switch and
the 3PE TP button, Backdrive is enabled, allowing the arm to move.
Freedrive on robot To use Freedrive on robot to backdrive the robot arm.
1. On the Initialize screen, tap ON to start the power up sequence.
2. When the robot state is Teach Pendant 3PE Stop, press and hold
the Freedrive on robot.
The robot state changes to Backdrive.
3. Now you can apply significant pressure to release the brake in a
desired joint to move the robot arm.
As long as the hold is maintained on the Freedrive on robot,
Backdrive is enabled, allowing the arm to move.
UR16e 120 User Manual
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