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Unmount attachment or set tool center point (TCP)/payload/CoG (center of gravity) according to tool specifications.
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To move the robot arm in freedrive, see figure 3.3 below.
| Standard TP |
3PE TP |
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On a standard teach pendant (TP), press and hold the freedrive button.
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On a 3-position enabling teach pendant (3PE TP), rapidly light-press, release, light-press again, and keep holding the 3PE button in this position |
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Pull/Push the robot to a horizontally elongated position and release. See figure 3.4.
Figure 3.4. Elongated horizontal position of UR robot.
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Verify the robot arm can maintain the position without support and without pressing the freedrive or 3PE button.
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