DoF - a Robotiq Community
Warning sign
The Dof Community was shut down in June 2023. This is a read-only archive.
If you have questions about Robotiq products please reach our support team.

@ChrisD do you mean while the robot program is playing you are entering free drive / teach mode programmatically?  If so, I don’t know if any URCaps that will work while the program is playing. You might have to write your own script for this, it wouldn’t be that hard to do actually if you are trying to restrict to just a planar motion. You just wouldn’t use the built in free drive method that you are currently calling, you’d write your own method and call it. 
What functions would I incorporate to restrict certain axes from being moved? I tried looking through the URScript manual, but I couldn't find any that I could utilize in a custom freemode method