HW1484764
Configuring Each Function
3-22
HW1484764
The avoidance function has the following operation modes:
TRANSLATION
(Translation mode)
The avoidance operation is
performed by moving the TCP
according to external forces while
keeping the current tool posture.
All the joints are moved
according to the external torque
acting on each axis during play.
Turning off and back on the controller power resets the avoidance function enable/disable setting to
the default (avoidance function disabled). To use the avoidance function, enable it again.
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