Drag Teaching

1 Drag Mode

1.1 Host Sets Drag Mode Parameters

Command Word: 0x4074

Parameter	Type	Range	Description
mode	int	[0,3]	Drag method: 0-None, 1-3D mouse, 2-Torque, 3-Position
port	int	Current bound IO port number	External trigger signal port
value	int	[0,1]	External trigger signal parameter

{
  "mode": 2,
  "port": 0,
  "value": 0
}

---

1.2 Host Queries Drag Mode Parameters

Command Word: 0x4075

Request Parameters:

{}

Response Parameters:

Command Word: 0x4076

Parameter	Type	Description
mode	int	Drag method, range [0,3]
port	int	External trigger signal port
value	int	External trigger signal parameter, range [0,1]

{
  "mode": 2,
  "port": 0,
  "value": 0
}

---

1.3 Host Sets Torque Parameters

Command Word: 0x4085

Parameter	Type	Range	Description
DecareLimit	double	[0,∞) m/s	Cartesian space linear velocity limit
JointVelLimit	double	[0,∞) °/s	Joint space velocity limit
dragCoefficient	double[6]	[1,100]	Over-limit drag resistance coefficient
drag_mode	int	[0,2]	Drag mode: 0-Free drag, 1-Position drag, 2-Orientation drag
frictionOffset	double[6]	[0,0.99]	Joint friction compensation correction coefficient
targetTorqCoefficient	double[6]	[0,1]	Joint target torque correction coefficient
waitCycle	double	[1,10]	Wait cycle for sending torque parameters to servo

{
  "DecareLimit": 2.50,
  "JointVelLimit": 1.0,
  "dragCoefficient": [5.0,5.0,5.0,5.0,5.0,5.0],
  "drag_mode": 0,
  "frictionOffset": [0.0,0.0,0.0,0.0,0.0,0.0],
  "targetTorqCoefficient": [1.0,1.0,1.0,1.0,1.0,1.0],
  "waitCycle": 5.0
}

---

1.4 Host Queries Torque Parameters

Command Word: 0x4086

Request Parameters:

{}

Response Parameters:

Command Word: 0x4087

Parameter	Type	Range	Description
DecareLimit	double	[0,∞) m/s	Cartesian space linear velocity limit
JointVelLimit	double	[0,∞) °/s	Joint space velocity limit
dragCoefficient	double[6]	[1,100]	Over-limit drag resistance coefficient
drag_mode	int	[0,2]	Drag mode
frictionOffset	double[6]	[0,0.99]	Joint friction compensation correction coefficient
targetTorqCoefficient	double[6]	[0,1]	Joint target torque correction coefficient
waitCycle	double	[1,10]	Wait cycle for sending torque parameters to servo

{
  "DecareLimit": 2.50,
  "JointVelLimit": 1.0,
  "dragCoefficient": [5.0,5.0,5.0,5.0,5.0,5.0],
  "drag_mode": 0,
  "frictionOffset": [0.0,0.0,0.0,0.0,0.0,0.0],
  "targetTorqCoefficient": [1.0,1.0,1.0,1.0,1.0,1.0],
  "waitCycle": 5.0
}

---

2 Trajectory Management

Note: Trajectory save results are returned via 0x4070.

2.1 Host Queries Whether Drag Trajectory Is Being Recorded

Command Word: 0x408B

Request Parameters:

{}

Response Parameters:

Command Word: 0x4070

Parameter	Type	Description
record	bool	Whether the trajectory is being recorded

{
  "record": false
}

---

2.2 Host Requests Trajectory Playback

Command Word: 0x4071

Parameter	Type	Range	Description
trajName	string	-	Name of the trajectory to play back
vel	int	[1,100]	Trajectory playback speed

{
  "trajName": "AAA",
  "vel": 100
}

---

2.3 Host Requests to Save Drag Trajectory

Command Word: 0x4072

Parameter	Type	Description
TrajName	string	Name of the trajectory to save; if empty, the save fails

{
  "TrajName": "AAA"
}

---

2.4 Host Requests to Delete Drag Trajectory

Command Word: 0x4073

Parameter	Type	Description
TrajName	string	Name of the trajectory to delete

{
  "TrajName": "AAA"
}

---

2.5 Host Queries Drag Trajectory List

Command Word: 0x4083

Request Parameters:

{}

Response Parameters:

Command Word: 0x4084

Parameter	Type	Description
TrajName	string[]	Saved trajectory list, length is the number of currently saved trajectories; if no trajectories exist, this field does not appear

{
  "TrajName": ["AAA"]
}

---

2.6 Host Sets Trajectory Recording Parameters

Command Word: 0x4088

Parameter	Type	Range	Description
MaxSamplingNum	double	(200,1200)	Maximum number of sampling points
SamplingInterval	double	[0.03,1]	Sampling interval (seconds)
Start	bool	-	Start/stop recording: true-start recording, false-stop recording; when false, "MaxSamplingNum" and "SamplingInterval" may not exist

{
  "MaxSamplingNum": 300.0,
  "SamplingInterval": 0.030,
  "Start": true
}

---

2.7 Host Queries Trajectory Recording Parameters

Command Word: 0x4089

Request Parameters:

{}

Response Parameters:

Command Word: 0x408A

Parameter	Type	Range	Description
MaxSamplingNum	double	(200,1200)	Maximum number of sampling points
SamplingInterval	double	[0.03,1]	Sampling interval (seconds)
Start	bool	-	Start/stop recording: true-start recording, false-stop recording

{
  "MaxSamplingNum": 300.0,
  "SamplingInterval": 0.030,
  "Start": false
}

---

2.8 Host Queries Drag Trajectory File List

Command Word: 0x408C

Request Parameters:

{}

Response Parameters:

Command Word: 0x408D

Parameter	Type	Description
absolutepath	string	Storage path of drag trajectory files in the controller
trajectory_filelist	string[]	Drag trajectory file list; "drag_traj_details.json" is the trajectory recording information file

{
  "absolutepath": "dragPos/",
  "trajectory_filelist": ["AAA","JJ","drag_traj_details.json"]
}