RealMan (Beijing) Intelligent Technology Co., Ltd.
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Fig. 8-49 The joint configuration.
Speed: Maximum speed of the joint in RPM, with a maximum of 30RPM.
Acceleration: Maximum acceleration of the joint in RPM/s, with a maximum of
500RPM/s.
Minimum angle: The minimum angle of a joint, in degrees.
Maximum angle: The maximum angle of a joint, in degrees.
Enable: the “Enable” button and the “Disenable” button send the enable and
disenable instructions to the specified joint respectively.
Example: Enable joint 1 (Enable other joints likewise)
1. Select joint 1 from the leftmost option.
2. Click the “Enable” button on the right.
Fig. 8-50 Enable a joint.
Set the origin: when the joint is in the disenabled status, click the
button
and set the current position of the specified joint as to be the origin. After setting, the
joint is still in the disenabled status. Please re-enable the joint before use.
Each joint of the robot has a mechanical origin position (as shown in the figure below),
and the origin position refers to the position and pose of all joints at the origin position
of the robot. If the robot is in the origin position and the mark of the mechanical origin
position is not aligned, then the robot needs to be set back to the mechanical origin
