Stop Freedrive Mode
SUMMARY
Stop Freedrive Mode exits gravity-compensated freedrive and restores the robot to normal active position control.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
python
robot.stop_freedrive_mode()The Code
Example: Stop an Active Freedrive Session
Start freedrive, wait 5 seconds, then stop.
python
import time
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
robot.start_freedrive_mode(free_axes=[1, 1, 1, 1, 1, 1])
time.sleep(5)
robot.stop_freedrive_mode()
logger.success("Freedrive mode stopped.")
# Disconnect
robot.disconnect()The Explanation of the Code
stop_freedrive_mode sends the exit command to the controller, restoring normal stiff position control. Always call this before issuing programmed motion commands after a freedrive session.
How to Tune the Parameters
This skill takes no input parameters.
Return Value
| Return Type | Description |
|---|---|
None | Returns after freedrive mode is deactivated. |
Where to Use the Skill
- Always paired with Start Freedrive Mode at the end of a freedrive session.
When Not to Use the Skill
Use the matching stop for teach mode:
- Use Stop Teach Mode to exit teach mode (the two modes have separate start/stop pairs).