# \#freedrive

**URL:** https://forum.universal-robots.com/tag/freedrive/86.md

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## [Teach Mode / Freedrive Malfunction with incorrect payload](https://forum.universal-robots.com/t/teach-mode-freedrive-malfunction-with-incorrect-payload/1234)

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**Author:** [@jrchen](https://forum.universal-robots.com/u/jrchen)\
**Replies:** 3\
**Last updated:** [October 13, 2017, 5:01pm UTC](https://forum.universal-robots.com/t/teach-mode-freedrive-malfunction-with-incorrect-payload/1234 "2017-10-13T17:01:01Z")

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I connected a computer to UR robot through TCP/IP with C# program, and sent script commands to the robot to perform all kinds of movements. Everything worked fine except “Teach Mode”. Once I sent in script teach\_mode(), …