Is it possible to switch the "LeadThrough" function from a spring-like mode to a transparent mode?

modan

Hello,

I am currently working on a study project in the field of robotics. This project focuses on the use of a collaborative robot from the ABB YuMi IRB 14050 series.

To program and simulate the robot’s behavior, I am using the RAPID programming language provided by ABB within the RobotStudio software.

For now, manual movements are performed using the function SetLeadThrough \On / \Off. However, with the default settings of this function, the robot behaves like a “spring” — meaning it tries to return to its original position.

This creates some complications during movement and when positioning reference points.

To solve this issue, I am looking for a parameter or setting that would allow switching from this “spring-like” mode to a more “transparent” mode, where the robot does not attempt to return to its original position but simply compensates for its own weight to make manual guidance easier for the operator.

I’m looking for advice or feedback from people who are familiar with this function.