Initialization Screen - Universal Robots UR5 with CB2 User Manual

3.1.2 Initialization Screen

On this screen you control the initialization of the robot. When turned on,
the robot needs to find the positions of each joint. To get the joint positions, the
robot needs to move each joint.
Status LEDs
The status LEDs give an indication of the joints running state.
A bright red LED tells that the robot is currently in a stopped state where
the reasons can be several.
A bright yellow LED indicates that the joint is running, but dosn't know its
presents position and needs homing.
Finally a green LED indicates that the joint is running correctly and is ready
to execute.
All the LEDs have to be green in order for the robot to operate normally.
Manual motion (By hand)
When the joints are Ready and the "Freedrive" button on the back of the screen
is pressed, the joint modes change to Backdrive. In this mode, the joints will
release the brakes when motion is detected. This way, the robot can be moved
out of a machine manually, before being started up. The brakes will reactive as
soon as the button is released again.
Auto movement (Auto Buttons)
Normally it is always advisable to use the auto buttons to move the individual
joints until they reach a known state. In order to operate the button, you have
to press on the Auto button, and keep it pressed.
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3.1. Introduction
UR5