# C#，The upper computer uses scripts to control UR10

**URL:** <https://forum.universal-robots.com/t/c-the-upper-computer-uses-scripts-to-control-ur10/36001>\
**Category:** Technical Questions\
**Created:** [September 10, 2024, 8:28am UTC](https://forum.universal-robots.com/t/c-the-upper-computer-uses-scripts-to-control-ur10/36001 "2024-09-10T08:28:58Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![3113950](https://avatars.discourse-cdn.com/v4/letter/3/4da419/32.png) [@3113950](https://forum.universal-robots.com/u/3113950)\
**Post date:** [September 10, 2024, 8:28am UTC](https://forum.universal-robots.com/t/c-the-upper-computer-uses-scripts-to-control-ur10/36001/1 "2024-09-10T08:28:58Z")

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The script code freedrive\_mode () often fails to control UR robot’s drag. It can only drag the robot arm immediately after the command is issued, and automatically exits the drag mode after a delay of a period of time. Is there a solution that can still drag the robot arm after the command is issued for a period of time?

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**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [September 10, 2024, 12:35pm UTC](https://forum.universal-robots.com/t/c-the-upper-computer-uses-scripts-to-control-ur10/36001/2 "2024-09-10T12:35:18Z")

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Hey @3113950 ,

You might consider updating you name😉

The URScript function _freedrive\_mode()_ will put the URControl into freedrive. It will stay in freedrive until _end\_freedrive\_mode()_ is called or the program stops running.

The context you gives is limited, but “C#” and “upper computer” indicate that you are controlling externally. You might make sure the URControl program is running for the amount of time you would like freedrive to stay active.

Ebbe