Safety and dynamics commands

The switches for the robot's model-based torques (gravity compensation, the inertia, Coriolis and friction feedforwards, friction compensation in freedrive), collision detection, the declared payload, the safety zones and the walls at the joint limits in freedrive.

• They apply to the whole robot, for every client, until changed or until the robot software restarts.
• Some switch a protection off. Their pages say so in a warning.

Command	What it does	Runs
set_gravity_comp	Switch gravity compensation on or off for the whole robot.	At once
set_inertia_comp	Switch the inertia feedforward on or off for the whole robot.	At once
set_coriolis_comp	Switch the Coriolis feedforward on or off for the whole robot.	At once
set_friction_ff	Switch the friction feedforward on or off for the whole robot.	At once
set_friction_comp	Switch friction compensation in freedrive on or off.	At once
set_payload	Declare the part the gripper holds: its mass and centre of mass.	At once
set_collision_detection	Set how the robot reacts when the arm hits something.	At once
get_zones	Return the safety zones in force.	At once
reload_zones	Re-read the safety zones from their files and apply them.	At once
get_joint_walls	Return the freedrive joint walls in force, with their stable ranges.	At once
set_joint_wall	Change one joint's freedrive wall, live.	At once
save_joint_walls	Save the live freedrive walls into the robot XML.	At once

---

Found a mistake on this page? Edit it on GitHub · Report it · Get help