Universal Robots UR16e

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Tool Position The text boxes display the full coordinate values of the TCP relative to the

selected feature. You can configure several named TCPs (see). You can

also tap Edit pose to access the Pose Editor screen.

Joint Position The Joint Position field allows you to directly control individual joints. Each

joint moves along a default joint limit range from − 360

∘

to + 360

∘

, defined

by a horizontal bar. Once the limit is reached you cannot move a joint any

further. You can configure joints with a position range different from the

default (see 5.6.2. Joint Limitson page139), this new range is indicated

with red zone inside the horizontal bar.

Example

WARNING

1. In the Setup tab, if the gravity setting (see) is wrong,

or the robot arm carries a heavy load, the robot arm

can start moving (falling) when you press the

Freedrive tab. In that case, release Freedrive again.

2. Use the correct installation settings (e.g. Robot

mounting angle, payload mass and payload center

of gravity offset). Save and load the installation files

along with the program.

3. Payload settings and robot mounting settings must

be set correctly before operating the Freedrive

button. If these settings are not correct, the robot

arm will move when you activate Freedrive.

4. The Freedrive function must only be used in

installations where the risk assessment allows it.

Tools and obstacles must not have sharp edges or

pinch points. Make sure that all personnel remain

outside the reach of the robot arm.

User Manual 329 UR16e

9.Move Tab

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