10
11
8 Freedrive (Teach Mode)
As an alternative to the robot teach button, you can activate the Freedrive mode directly on the gripper as follows:
ECBPMi Plus connected (see Configuration Status
Connected section)
1. Grasp the gripper as shown (see image): Both ar-
row buttons are covered.
2. The robot automatically switches to Freedrive
mode after 2 seconds.
ð
The LED ring lights up blue.
ð
The “Freedrive” (blue icon) robot status is dis-
played on the UR panel.
You can now guide the robot manually in the blue “Freedrive mode,” e.g. to define new waypoints in
your UR program.
9 Operation
ECBPMi Plus connected (see Configuration Status
Connected section)
•
(1)
Select the “Program” button.
•
(2)
Select “URCaps”.
•
(3)
Select the “Schmalz Gripper” URCap.
•
You can create the robot program by selecting several of the following functions:
•
(4)
“SUCTION”: Workpiece is gripped (activate suction)
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EN-US · 30.30.01.02291 · 01 · 11/20
