Freedrive

Description

Freedrive allows the robot arm to be manually pulled into desired positions

For most robot sizes, the most typical way to enable Freedrive is to press the Freedrive button on the Teach Pendant. More ways to enable and use Freedrive are described in the following sections.

In Freedrive, the robot arm joints move with little resistance because the brakes are released. Resistance increases as the robot arm in Freedrive approaches a predefined limit or plane. This makes pulling the robot into position feel heavy.

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.
Enabling Freedrive

You can enable Freedrive in the following ways:

  • Use the 3PE Teach Pendant.

  • Use the Freedrive on robot.

  • Use I/O Actions.

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.
3PE Teach Pendant

To use the 3PE TP button to freedrive the robot arm:

  1. Rapidly light-press, release, light-press again and keep holding the 3PE button in this position.

Now you can pull the robot arm into a desired position, while the light-press is maintained.

 
Freedrive on robot

To use Freedrive on robot to freedrive the robot arm on the PolyScope:

  1. On the Main navigation, tap Application and then Safety.

  2. Tap Unlock and enter the password.

  3. Under Safety I/O, tap Inputs.

  4. On the Functions drop-down menu, scroll down to Freedrive Enabled Input.

  5. Tap Apply and Apply and Restart to restart the robot arm.

  6. Tap Confirm Configuration.

  7. Move the robot arm as desired.

     
Backdrive

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 vibrations are undesirable. Use Backdrive to force specific joints to a desired position without releasing all brakes in the robot arm.