Set robot in freedrive mode. In this mode the robot can be moved around by hand in the same way as by pressing the "freedrive" button.

The robot will not be able to follow a trajectory (eg. a movej) in this mode.

The default parameters enables the robot to move freely in all directions. It is possible to enable Constrained Freedrive by providing user specific parameters.

Parameters

freeAxes: A 6 dimensional vector that contains 0’s and 1’s, these indicates in which axes movement is allowed. The first three values represents the cartesian directions along x, y, z, and the last three defines the rotation axis, rx, ry, rz. All relative to the selected feature.

feature: A pose vector that defines a freedrive frame relative to the base frame. For base and tool reference frames predefined constants "base", and "tool" can be used in place of pose vectors.

Example commands:

• freedrive_mode()

  • Robot can move freely in all directions.

• freedrive_mode(freeAxes=[1,0,0,0,0,0], feature=p[0.1,0,0,0,0.785])

  • Example Parameters:

    • freeAxes = [1,0,0,0,0,0] -> The robot is compliant in the x direction relative to the feature.

    • feature = p[0.1,0,0,0,0.785] -> This feature is offset from the base frame with 100 mm in the x direction and rotated 45 degrees in the rz direction.

• freedrive_mode(freeAxes=[0,1,0,0,0,0], feature="tool")

  • Example Parameters:

    • freeAxes = [0,1,0,0,0,0] -> The robot is compliant in the y direction relative to the "tool" feature.

    • feature = "tool" -> The "tool" feature is located in the active TCP.

Note: Immediately before entering freedrive mode, avoid:

• movements in the non-compliant axes

• high acceleration in freedrive mode

• high deceleration in freedrive mode

High acceleration and deceleration can both decrease the control accuracy and cause protective stops.