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Backdrive
In Freedrive mode, the robot joints can be moved with relatively little force because the brakes
are released. During initialization of the robot arm, minor vibrations may be observed when the
robot brakes are released. In some situations, such as when the robot is close to collision, these
tremors are undesirable and the Backdrive feature can be used to forcefully move specific joints
to a desired position without releasing all brakes in the robot arm.
To enable Backdrive:
1. Press ON to enable power for the joints. The robot state is set to "Idle". Do not release the
brakes (i.e. do not press START).
2. Press and hold the Freedrive button. The robot state changes to "Backdrive".
3. Brakes will only be released in the joints to which significant pressure is applied, as long
as the Freedrive button is engaged/pressed. While using Backdrive, the robot feels heavy to
move around.
1.20.8. Password Lock
All settings on this screen are locked until the correct safety password
Password on
page 210) is entered in the white text field at the bottom of the screen and the
Unlock button is pressed. The screen can be locked again by clicking the Lock button. The
Safety tab is automatically locked when navigating away from the safety configuration screen.
When the settings are locked, a lock icon is visible next to the text Safety on the left side of the
screen. An unlock icon is shown when the settings are unlocked.
NOTE
Note that the robot arm is powered off when the safety Configuration screen is
unlocked.
1.20.9. Apply
When unlocking the safety configuration, the robot arm will be powered off while changes are
being made. The robot arm cannot be powered on until the changes have been applied or
reverted, and a manual power on is performed from the initialization screen.
Any changes to the safety configuration must be applied or reverted, before navigating away from
the Installation tab. These changes are not in effect until after the Apply button is pressed and
confirmation is performed. Confirmation requires visual inspection of the changes given to the
robot arm. For safety reasons, the information shown is given in SI Units. An example of the
confirmation dialog is shown below.
UR10
92
(see 1.25.3. Set
User Manual
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