Basic

1

IO Source

Configure the input/output sources.

2

Output Setting: Single Type

Configure the digital output port.

3

Output Setting: Double Type

Configure the digital output port.

4

Input Setting

Configure the digital input port.

1

Reference Pose

Configure the reference pose.

2

Task Setting

Configure task selection, maximum distance, wait time, task velocity, and acceleration.

3

Approach Pose Setting

Configure approach distance, speed, acceleration, and motion time.

4

Retract Pose Setting

Configure retract distance, velocity, acceleration, motion time, and blending radius.

5

Compliance Control Setting

Configure the stiffness.

6

Contact Sensing Setting

Configure task direction, contact margin, desired force, contact force, and timeout.

1

Start Pose

Configure the starting pose.

2

End Pose

Configure the ending pose.

3

Task Setting

Configure task selection, wait time, first motion velocity and acceleration, and second motion velocity and acceleration.

4

Approach Pose Setting

Configure approach distance, velocity, acceleration, motion time, and blending radius.

5

Retract Pose Setting

Configure retreat distance, velocity, acceleration, motion time, and blending radius.

6

Compliance Control Setting

Configure the stiffness.