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    User Guide: Robot System Parameters

    This guide provides a detailed explanation of the global system parameters found in the Robot Configuration settings. These settings define the robot's physical properties and safety constraints.

    1. Arm Reach

    Definition

    This parameter defines the physical reach of the robot based on its kinematics. It is calculated as the radius from the base joint's rotation axis to the Tool Center Point (TCP) when the robot is fully extended.

    arm_reach_diagram
    Diagram: Definition of Max Arm Reach

    Details

    • Unit: mm
    • Function: This value is used to limit the joint speed effectively to prevent the TCP from exceeding safe velocities.

    This value must be reasonably accurate, as it affects motion constraints. However, perfect precision is not required — an error margin of ±10% is acceptable.

    2. Gravity Vector

    Definition

    The gravity vector defines the direction and magnitude of gravitational acceleration relative to the World Coordinate System.

    Details

    • The vector must point in the direction of gravity (usually downward in the Z-axis).
    • The magnitude should reflect the local gravitational acceleration (approx. 9.81 m/s²).

    Be careful with the unit: Ensure consistent use of mm/s² (e.g., -9810) or m/s² (e.g., -9.81) depending on your global unit settings.

    3. Max Payload

    Definition

    Specifies the maximum payload capacity of the robot (Unit: g). This value defines the upper limit for gravity compensation, regardless of the actual payload data set in the tool configuration.

    How It Works

    Even if a tool is configured with a payload that exceeds this value (e.g., by mistake or tool change), the system will limit gravity compensation to the value specified here to protect the robot.

    Always set this value according to the robot's mechanical and control limits to prevent incorrect torque output or safety issues.

    4. Max Allowable Inertia

    Definition

    Defines the moment of inertia limits for the robot's wrist joints.

    Status: Future Feature

    This parameter is reserved for future use and is currently not operational. Inputting any value will have no effect on the actuator's behavior in the current version.

    5. Task Space Limits

    Definition

    Defines the kinematic constraints in task space, i.e., relative to the robot’s Tool Center Point (TCP). These limits constrain the Cartesian linear motion of the end-effector.

    Parameters

    • Max Speed: Maximum linear velocity of the TCP when moving toward the target (Unit: mm/s or m/s).
    • Max Accel: Maximum linear acceleration of the TCP while following the trajectory (Unit: mm/s² or m/s²).
    • Max Jerk: Maximum linear jerk (rate of change of acceleration) of the TCP (Unit: mm/s³ or m/s³).

    These values should be defined based on:

    • The mechanical and structural limits of the robot.
    • The desired task performance and safety.
    • Excessively high values can lead to unstable or unsafe robot behavior.

    6. Goal Tolerance

    Definition

    This parameter defines the arrival criteria for the Tool Center Point (TCP).

    Usage

    • When executing task-space commands (like move_linear), the robot is considered to have reached the target when the TCP position error is within this tolerance value.
    • Unit: mm