Is there a piece of script that we can utilize to lock the UR into a specific plane during a program? I understand that you can use the manual ActiiveDrive toolbar for teaching, but I would like to utilize that functionality during the program's actual run. For example, I can use the line of script "freedrive_mode()" to turn on freedrive mode during a program; however, that does not allow me to lock the UR into a specific plane. I want to be able to use the Planar setting of ActiveDrive instead (allowing for X and Y motion, but no Z, RX, RY, or RZ). So my application code would look something like this__________________________________________________________________________________________________________________________allow_activedrive_mode := TrueLoop while allow_activedrive_mode = True activedrive_mode(X,Y) ***I would move the robot with my hands to the position I want, and I have 10 seconds to do this as you can see in the event below*** pose := get_actual_tcp_pose() ***This would write my position after the 10 seconds to the pose***Event allow_activedrive_mode = True Wait 10 sec allow_activedrive_mode := False__________________________________________________________________________________________________________________________I can currently do this right now by replacing the above "activedrive_mode()" with "freedrive_mode()", but as I said, this does not prohibit motion in the proper planes. Please send me your ideas, and I will certainly share whatever we find as well.