When I set the safety factor to 1.0, the arm can still easily switch to the position mode from the torque mode.
I'm trying to build a direct teaching system and we need the gen2 (j2n6s300) arm to move by human hand.
However, even if I move the arm softly, the arm can still easily switch to the position mode.
Is there any solution for this problem??
I know that the safety factor decides the velocity threshold, so I think if I can change the velocity threshold and the arm will not easily switch to the position mode.
but how?
I really appreciate your help in advance! Thanks.
Version
The latest firm ware (v6.2.11)
Steps to reproduce
Simply run gravity_compensation.py and move the arm by human hand.
Description
When I set the safety factor to 1.0, the arm can still easily switch to the position mode from the torque mode.
I'm trying to build a direct teaching system and we need the gen2 (j2n6s300) arm to move by human hand. However, even if I move the arm softly, the arm can still easily switch to the position mode.
Is there any solution for this problem?? I know that the safety factor decides the velocity threshold, so I think if I can change the velocity threshold and the arm will not easily switch to the position mode. but how?
I really appreciate your help in advance! Thanks.
Version
The latest firm ware (v6.2.11)
Steps to reproduce
Simply run gravity_compensation.py and move the arm by human hand.
Expected behavior
The arm should stay in the torque mode.