# Constrained Freedrive mode

**URL:** <https://forum.universal-robots.com/t/constrained-freedrive-mode/11906>\
**Category:** URCap Development\
**Created:** [January 28, 2021, 8:49am UTC](https://forum.universal-robots.com/t/constrained-freedrive-mode/11906 "2021-01-28T08:49:05Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![anon30805486](https://avatars.discourse-cdn.com/v4/letter/a/fbc32d/32.png) [@anon30805486](https://forum.universal-robots.com/u/anon30805486)\
**Post date:** [January 28, 2021, 8:49am UTC](https://forum.universal-robots.com/t/constrained-freedrive-mode/11906/1 "2021-01-28T08:49:05Z")

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Is there a way to enable constrained freedrive mode either through URscripts, Dashboard interface or RTDE interface?

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**Author:** ![anon89767729](https://avatars.discourse-cdn.com/v4/letter/a/9dc877/32.png) [@anon89767729](https://forum.universal-robots.com/u/anon89767729)\
**Post date:** [January 28, 2021, 8:54pm UTC](https://forum.universal-robots.com/t/constrained-freedrive-mode/11906/2 "2021-01-28T20:54:45Z")

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freedrive\_mode() - you can use the command either in a script or directly in a thread or program. Read more on scripts manual.

Thanks!

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**Author:** ![anon30805486](https://avatars.discourse-cdn.com/v4/letter/a/fbc32d/32.png) [@anon30805486](https://forum.universal-robots.com/u/anon30805486)\
**Post date:** [January 29, 2021, 1:08pm UTC](https://forum.universal-robots.com/t/constrained-freedrive-mode/11906/3 "2021-01-29T13:08:36Z")

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Correct me if I’m wrong. freedrive\_mode() is to enable **unconstrained** freedrive mode isn’t it?

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<div class="post-metadata">

**Author:** ![anon89767729](https://avatars.discourse-cdn.com/v4/letter/a/9dc877/32.png) [@anon89767729](https://forum.universal-robots.com/u/anon89767729)\
**Post date:** [January 29, 2021, 5:05pm UTC](https://forum.universal-robots.com/t/constrained-freedrive-mode/11906/4 "2021-01-29T17:05:30Z")

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Yes that’s true!

freedrive\_mode()  
end\_freedrive\_mode()  
So you are able to constraint it after all through a variable or something…

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**Author:** ![krmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/krmi/32/1945_2.png) [@krmi](https://forum.universal-robots.com/u/krmi)\
**Post date:** [January 29, 2021, 9:41pm UTC](https://forum.universal-robots.com/t/constrained-freedrive-mode/11906/5 "2021-01-29T21:41:02Z")

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There is currently no way to enter constrained freedrive programmatically. I’d recommend putting it into the “Product Wishlist” category with your use case for our Product team to review!