To use the 0G (Zero Gravity) mode, deactivate the robot, press and hold the 0G button on the robot base. After 3 seconds you can hear a 'click' sound which indicates the brakes has been released. Move the robot while holding the 0G button. Release it once the robot has been positioned.
In firmware 7.0.6 or lower, to access the 0G mode, the robot needs to be deactivated as well as disconnected from the web interface or any other controller