Hello together,
right now I am using the scriptcode “freedrive_mode()” and "end_freedrive_mode().
In the latest polyscope version (5.12.2) there´s the possibility to restrict the movement with the little window on the right bottom side of the teachpendant while pressing the Freedrive-Button on the backside.
Is it possible to restrict the movement of the freedrive while using the scriptfunction “freedrive_mode()” during the program?
Like maybe setting some parameters in the code?
Thank you all in advance!
Matthias
Hey,
Would it be Possible to Perhaps use Force Mode dont set lets say x, and set y and z to 0… on TCP
That should keep the x and zero force on the other axis(y,z). I Used a whyle ago like that.
Since you also control RX,RY and RZ, you can block or zero rotation Force with that aswell.
Welcome the UR forum. In the script manual you can find the following information:
freedrive_mode (freeAxes=[1, 1, 1, 1, 1, 1], feature=p[0, 0,0, 0, 0, 0])
You can utilize the freeAxes to and the orientationpart of feature to specify the behavior.
Ebbe
Hello Ebbe,
thank you very much for your Solution, this was exactly what i was looking for.
I didn´t noticed that there was a new Scriptmanuel with the 5.12 Update.
Best regards
Matthias