User Manual

figure 1)

taken as the zero point, and the trajectory of the robotic arm refers

to the tool coordinate system.

User Coordinate

System

(please refer to the

figure 1)

The user coordinate system can be defined as any other reference

coordinate system rather than the robot base.

Manual Mode

In this mode, the robotic arm will enter the ‘zero gravity’ mode,

since the gravity is compensated, the user can guide the robotic

arm position directly by hand.

Teach Sensitivity

Teach sensitivity range is from 1 to 5 level. The larger the set

value, the higher the teach sensitivity level, and the less the force

required to drag the joint in the manual mode.

Collision Sensitivity

The collision sensitivity range is from 0 to 5 level. When it is set to

0, it means that collision detection is not enabled. The larger the

set value, the higher the collision sensitivity level, and the smaller

the force required to trigger the collision protection response of

the robotic arm.

GPIO

General-purpose input and output.

For the input, you can check the potential of the pin by reading a

For the output, you can write a certain register to make this pin

output high or low potential;

Safety Boundary

When this mode is activated, the boundary range of the cartesian

space of the robotic arm can be limited. If the tool center point

(TCP) exceeds the set safety boundary, the robotic arm will stop

moving.

Reduced Mode

When this mode is activated, the maximum linear velocity of the

Cartesian motion of the robotic arm, the maximum joint speed,

and the range of the joint motion will be limited.

Figure 1