Download Advanced Servo Library Reference Guide

Library Routine
sl.free
(*Illegal joint number*) is returned. An informational
message is typed to the monitor if the global flag sl.adv.diag is
nonzero.
Details
WARNING: Placing a gravity-loaded joint into FREE mode could
cause the joint to drop, causing damage to the payload or the
workspace.
FREE mode releases servo control of the motor by either disabling the Drive
Enable signal for the specified channel, or by commanding zero torque. The
specific method depends on the drive configuration. This mode is intended to
allow the mechanism to be easily moved by hand during setup, or to create a
compliant robot joint or joints to ease part insertion.
See the example routine ex.free( ) - FREE Mode Example for more details.
Related Routine
sl.c.free
Advanced Servo Library Reference Guide, Rev. A
69