Enabling Freedrive: Standard Teach Pendant - Universal Robots E Series Original Instructions Manual

You can lock one or more of the axes allowing the TCP to move in a particular direction, as defined
in the table below.
Movement is allowed through all axes.
All axes are free
Movement is only allowed through the X-axis and Y-axis.
Plane
Movement is allowed through all axes, without rotation.
Translation
Movement is allowed through all axes, in a spherical motion, around the TCP.
Rotation
WARNING
Moving the robot arm in some axes when a tool is attached, can present a pinch
point.

18.1. Enabling Freedrive: Standard Teach Pendant

You can enable Freedrive in the following ways:
UR5e 112
18. Freedrive
User Manual