Collaborative mode

Please can you help with the activation of collaborative mode in UR5 script,
I want the user to be able of moving the robot at a desire position when a condition is validated. i tried the script with force alone but the robot can’t stabilise at a given position

There are script commands to activate freedrive mode within a program. You can read all the options in the script manual available for download on our website.

Make sure you have your payload mass and COG properly defined, or the robot motion in freedrive may be inconsistent.

You may also need to use a wait: is_steady() command before entering freedrive in your program depending on how fast the robot is moving before entering freedrive.