Universal Robots UR30 - Freedrive

7.6. Freedrive
Description Freedrive allows the robot arm to be manually pulled into desired positions and/or poses.
The joints move with little resistance because the brakes are released. While the robot
arm is being moved manually, it is in Freedrive.
Resistance increases as the robot arm in Freedrive approaches a predefined limit or
plane. This makes pulling the robot into position feel heavy.
WARNING
Injury to personnel can occur due to unexpected motion.
•
Verify the configured payload is the payload being used.
•
Verify the correct payload is securely attached to the tool flange.
Enabling
Freedrive
You can enable Freedrive in the following ways:
•
Use the 3PE Teach Pendant.
•
Use the Freedrive on robot.
•
Use I/O Actions.
NOTICE
Enabling Freedrive while you are moving the robot arm, can cause it to
drift leading to faults.
•
Do not enable Freedrive while you are pushing or touching the
robot.
3PE Teach
Pendant
To use the 3PE TPbutton to freedrive the robot arm:
1. Rapidly light-press, release, light-press again and keep holding the 3PE button in this
position.
Now you can pull the robot arm into a desired position, while the light-press is maintained.
Freedrive on
robot
To use Freedrive on robotto freedrive the robot arm:
1. Press-and-hold the button of switch configured for Freedrive on robot.
2. When the Freedrive panel appears in PolyScope, select the desired movement type
for the robot arm’s joints. Or use the list of axes to customize the movement type.
3. You can define the type of feature if required, by selecting an option from the Feature
dropdown list.
The robot arm can stop moving if it approaches a singularity scenario. Tap All axes
are free in the Freedrive panel to resume movement.
4. Move the robot arm as desired.
UR30 57 User Manual
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