Universal Robots UR20 User Manual

Freedrive
To test Freedrive:
1. Unmount tool/s or attachment/s or set the TCP/Payload/CoG according to tool
specifications.
2. To move the robot arm in Freedrive:
•
On the 3PE Teach Pendant, rapidly light-press, then light-press-and-hold the 3PE but-
ton.
3. Pull/Push the robot to a horizontally elongated position and release.
4. Verify the robot arm can maintain the position without support and without activating
Freedrive.
Backdrive
If the robot arm is close to colliding with something, you can use the Backdrive function to move
the robot arm to a safe position before (re)initializing it.
To test Backdrive:
1. Press ON to enable power. Status changes to Robot Active
2. Press and hold Freedrive. Status changes to Backdrive
3. Move robot as in Freedrive. Joint brakes are released where needed once the Freedrive but-
ton is activated.
The robot arm is “heavy” to move around in Backdrive, so efort is required to move the joints.
NOTICE
Failure to test Backdrive on all joints can lead to loss of functionality.
•
You must test Backdrive mode on all joints.
Safety settings
Verify the robot safety settings comply with the robot installation risk assessment.
Additional safety inputs and outputs are still functioning
UR20 10 Service Manual
3.Recommended Inspection Activities
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Universal Robots UR20 Specifications

General

Brand	Universal Robots
Model	UR20
Category	Robotics
Language	English