Freedrive

To test Freedrive

  1. Unmount attachment or set TCP (tool center point)/payload/CoG (center of gravity) according to tool specifications.

  2. To move the robot arm in freedrive, see figure below.

    Standard TP 3PE TP

    On a standard teach pendant (TP), press and hold the freedrive button.

    		 On a 3PE TP, rapidly light-press, release, light-press again, and keep holding the 3PE button in this position.

  3. Pull/Push the robot to a horizontally elongated position and release. See figure below.

    Elongated horizontal position of UR robot

  4. Verify the robot arm can maintain the position without support and without pressing the freedrive or 3PE button.