OperatorActiveX provides simple commands to directly customize freebot settings. Here’s an example to enable all joints during freebot.
Create a string variable to define freebot mode with respect to base or tool coordinate.
string freebot_mode = "true" --> by (current) base
string freebot_mode = "false" --> by (current) tool
Create an OperatorActiveX object to the robot, the tutorial of setting up OperatorActiveX can be found here.
OperatorActiveX->SetCustomFreeBot = freebot_mode,"true","true","true","true","true","true"
If users want to change the robot’s configuration to scara-like, the command can be simply implemented as follows:
OperatorActiveX1->SetCustomFreeBot = freebot_mode,"true","true","true","false","false","true"
