Universal Robots UR12e User Manual page 51

6.6. Freedrive
Description Freedrive allows the robot arm to be manually pulled into desired positions and/or poses.
The joints move with little resistance because the brakes are released. While the robot
arm is being moved manually, it is in Freedrive.
Resistance increases as the robot arm in Freedrive approaches a predefined limit or
plane. This makes pulling the robot into position feel heavy.
Enabling You can enable Freedrive in the following ways:
Freedrive
3PE Teach To use the 3PE TP button to freedrive the robot arm:
Pendant
1.
Now you can pull the robot arm into a desired position, while the light-press is maintained.
Freedrive on To use Freedrive on robot to freedrive the robot arm:
robot
1.
2.
3.
4.
User Manual
WARNING
Injury to personnel can occur due to unexpected motion.
•
Verify the configured payload is the payload being used.
•
Verify the correct payload is securely attached to the tool flange.
•
Use the 3PE Teach Pendant.
•
Use the Freedrive on robot.
•
Use I/O Actions.
NOTICE
Enabling Freedrive while you are moving the robot arm, can cause it to
drift leading to faults.
•
Do not enable Freedrive while you are pushing or touching the
robot.
Rapidly light-press, release, light-press again and keep holding the 3PE button in this
position.
Press-and-hold the button of switch configured for Freedrive on robot.
When the Freedrive panel appears in PolyScope, select the desired movement type
for the robot arm's joints. Or use the list of axes to customize the movement type.
You can define the type of feature if required, by selecting an option from the Feature
dropdown list.
The robot arm can stop moving if it approaches a singularity scenario. Tap All axes
are free in the Freedrive panel to resume movement.
Move the robot arm as desired.
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