Is it possible to replicate freedrive movement using UR5 Robot

M999STR

Hello, I’m trying to work out if it’s possible to get a UR5 robot to replicate the movement I do when in freedrive. 
Im looking to move the arm in a way that replicates how a person would move an item which I can do when using freedrive but would like to know if I can call on that movement sequence to create a program capable of repeating it over a number of cycles. Having looked through the options available on the left had tab I can’t quite see one that allows this. Can anyone help advise the best way to achieve what I am looking to do without having to set points via moves or waypoints. 

Many Thanks

Matt

M999STR

After a bit more searching I think I’ve found the answer, I can use F/T Path. Now il play with that and see what I can get it to do. Sorry if this was a stupid question I’m fairly new to using these robots. 

Thanks

Matt