Universal Robots UR3e

16.4. 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 (see Operational modeon page130).
As the robot arm in Freedrive approaches a predefined limit or plane (see 17.8
Software Safety Restrictionson page149), resistance increases.
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 (see 17.7 Safety I/Oon page145)
•
Use I/O Actions (see 20.4 I/O Setupon page281)
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, then light-press-and-hold, the 3PE button.
Now you can pull the robot arm into a desired position, while the light-press is
maintained.
User Manual 119 UR3e
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