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Home > Programming > Freedrive mode without pressing the button
haneulines

Hello,

Is there a way to move the robot freely without pressing the freedrive button.
matthewd92

We wire an on off switch to an input and set the function as Freedrive. 


You could have a PLC/PC send a script to the robot that uses the freedrive command. Something has to command the robot to enter that mode. 
MarcAntoine_Gauthier
Passakorn

Hello @matthewd92 @MarcAntoine_Gauthier

If I want to use a freedrive in robot program.
Is there any function or script to use it?

Thank you
haneulines

Hello @matthewd92 @MarcAntoine_Gauthier @Passakorn

Unfortunately we do not have the robotiq force Copilot..

I'm also really interested by the script that uses the freedrive command.. Where could I find it ?

Is there any post on the forum about this subject ?


Thank you !
matthewd92

Yes, the script code is freedrive_mode() and then when you are ready to turn it off you issue the end_freedrive_mode()

So for instance we have have a home “box” that the TCP must be in before we can start a program. If the TCP location is not inside the box when we start we enter free drive until it is and then turn it off. 


On another robot we have a button on the end of arm and when certain conditions are met we allow the user to freedrive the arm while the program is still playing as long as they press a button on the end of arm tool so we have a while loop so long as they hold the button that just syncs. As soon as they release we exit free drive. 
Passakorn