Documentation SDK & Software
System users receive a motion-control SDK (Python / C++) for control, monitoring and programming, and PC control software (Windows / Ubuntu). The SDK wraps low-level communication and provides:
| Module | Description |
|---|---|
| System management | Connect / disconnect the controller, log levels, restart, firmware update, file transfer |
| State machine | Switch between position, impedance (joint / Cartesian / force) and direct-teaching modes |
| Real-time feedback | 1 kHz joint position, velocity, torque, IMU and force data; 500 Hz configuration and diagnostics |
| Parameter management | Read / write integer, float and string parameters by name |
| End-effector communication | Exchange data with tool devices over CAN FD / RS-485 |
| Hardware configuration | Brake lock / release, encoder offset reset |
| Motion commands | Emergency stop, joint position commands, force / torque control, speed scaling, stiffness / damping tuning |
| Kinematics & planning | Forward / inverse kinematics, Jacobian, tool transforms, MoveJ / MoveL, multi-segment Cartesian planning |
| Dynamics identification | Identify payload mass, center of mass and inertia from recorded data |
- The controller and SDK can connect when their major and minor versions match.
- Demo code and stiffness / damping values in the SDK are references; tune them for your environment.
- The teleoperation system runs as ROS 2 nodes and integrates with existing ROS 2 environments.