Documentation Control Modes & Basic Operation
The arms support force control via joint torque sensing. Switch between the following modes depending on the task.
| Mode | Overview |
|---|---|
| Position control | Move to joint or Cartesian targets; supports MoveJ / MoveL |
| Joint impedance control | Set stiffness and damping per joint for compliant motion |
| Cartesian impedance control | Set stiffness and damping in the base frame, for contact-rich tasks |
| Force control (Cartesian impedance + force) | Hybrid force/position control applying a set force along chosen axes |
| Direct teaching (joint / Cartesian) | Teach poses by moving the arm by hand |
| PVT mode | Play back position–velocity–time trajectories |
Tool (payload) identification
After changing the gripper or hand, return to home and run the identification trajectory in PVT mode to identify payload mass, center of mass and inertia. This affects the accuracy of impedance and force control.
Handling faults
- Clear servo errors, read error codes and soft-reset joint motors from the control software.
- Pressing the emergency stop halts all axes and engages the brakes.
- Forced brake release can let the arm drop. Always support the arm and follow the procedure in the manual.
Caution: back up the original configuration files before changing IP addresses, payload, stiffness, damping, home position or TCP offset.