Universal Robots UR5e - Pose Editor Screen

Home The Home button accesses the Move Robot into Position screen, where
you can hold down the Auto button (see Move robot toon page155) to
move robot into position previously defined under Installation (see Defining
Homeon page292). The Home button’s default setting returns the Robo
Arm to an upright position (see 3.5.9. Homeon page292).
Freedrive The on-screen Freedrive button allows the Robot Arm to be pulled into
desired positions/poses.
Align The Align button allows the Z axis of the active TCP to align to a selected
feature.
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 Joint Limitson page130), this new range is indicated with red
zone inside the horizontal bar.
User Manual 320 UR5e
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