Freedrive mode not working?

[broofa]

Hi, I'm working with a UR5, trying to put it into freedrive mode. URRobot.set_freedrive(True) does not seem to be working. Reading the urx code it looks like it's sending set robotmode freedrive, however in reading the v3.2 of the URScript Programming Language guide, I don't see any mention of a robotmode command. Am I missing something?

(Note: I'm new to this so my apologies if I'm overlooking something obvious.)

Cc: @markwsilliman

[oroulet]

It used to work..., We'll check

On Tue, Aug 23, 2016, 02:18 Robert Kieffer notifications@github.com wrote:

Hi, I'm working with a UR5, trying to put it into freedrive mode. URRobot.set_freedrive(True) does not seem to be working. Reading the urx code it looks like it's sending set robotmode freedrive, however in reading the v3.2 of the URScript Programming Language guide, I don't see any mention of a robotmode command. Am I missing something?

(Note: I'm new to this so my apologies if I'm overlooking something obvious.)

Cc: @markwsilliman https://github.com/markwsilliman

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[zchen24]

In my lab, there are one UR3 running 3.1 and one UR5 running 1.8. This "set robotmode freedrive" command works on UR5, but does not work on UR3.

[markwsilliman]

We're using this on a UR5 now that is running 3.4 so I would expect 3.1 to work. One trick that we had to do is create a script to sleep after enabling freedrive. Otherwise the program ends and freedrive turns off (all in < 1 second).

Check your logs (on the robot) to see if the freemode is turning on and off. If yes adding the sleep will fix it.

[zchen24]

@markwsilliman Could you elaborate on "create a script to sleep after enabling freedrive"? On UR3, I also tried to call freedrive_mode() and found that the UR turns freedrive mode on, then turns it off after 16 ms.

[markwsilliman]

Try something like:

with urx.Robot(robot_ip) as rob: rob.send_program(b"def myProg():\n\tfreedrive_mode()\nsleep({})\nend".format(timeout))

[zchen24]

WOW, works like a charm. Thank you!