Freedrive - Universal Robots E Series Original Instructions Manual

18. Freedrive
18. Freedrive
This chapter describes how to start using the robot arm in Freedrive.
Freedrive allows the robot arm to be manually pulled into desired positions and poses.
As you use Freedrive, the robot arm creates a repelling force if it approaches a joint limit or a safety
plane (see 21.11.2. Configuring Safety Planes on
When the robot arm is in Freedrive, a panel appears on PolyScope, as illustrated below.
The LED on the status bar of the Freedrive panel indicates:
• When one or more joints are approaching their joint limits.
• When the robot arm's positioning is approaching singularity. Resistance increases as the
robot approaches singularity, making it feel heavy to position.
User Manual
page 126).
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