Missing freedrive function going from UR10 CB3 to UR10e

Technical Questions URScript
1

Dear,

I use the freedrive_mode_no_incorrect_payload_check() function on a UR10 CB3 robot. The dealer wants to push us to the UR10e and now I’m burdened with the conversion of my CB3 scripts to the UR10e scripts… Let the fun begin.

First problem I run into is the fact that the CB3 has the script function freedrive_mode_no_incorrect_payload_check(). The UR10e has not… The function is a real nice feature that users find very pleasurable to use. Is there an equivalent to this function on the UR10e? I can’t find it in the manual…

Max

2

According to the Polyscope release notes e-series robots running Polyscope 5.11.5 or higher also have this function.
see here:
Release Notes 5.11.

What version are you running on the UR10e?

It is interesting that this function is not mentioned in the Urscript reference

3

I’m receiving the UR10e tomorrow, used the manual v5.12 to get a head start… So that’s why I assumed it wasn’t present, as you’ve discovered as well.

4

You can also always download the simulator from UR and just run your CB3 scripts and programs on an e-series to see what errors it generates.

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