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Lead-through/force mode through Rapid?

dchatzin
dchatzin ✭
in RAPID Programming
Hey,

I have a quick question regarding the YuMi. Is there a way to enable lead-through in a specific axis, e.g. z-axis of the base frame? For example, in Universal Robots you can enable the so called "force mode" that makes the robot compliant in certain axes.

Is there something similar in RAPID?

Best,
Dimitrios

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