UFactory XARM User Manual page 121

Clear the IO output when the robot is stopped
After turning on 【Clear IO output when the robot is stopped 】if the
robotic arm receives a stop command, 【Controller Digital Output】or
【Tool Digital Output 】will be set to the invalid state. Otherwise, the
【Controller Digital Output】 or【Tool Digital Output】will not be affected
by the stop command.
Collision Rebound
When this mode is turned on, the robotic arm will rebound backward
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for a certain distance after it collides with an obstacle. If collision
sensitivity is not zero, when this mode is turned off, the robotic arm
will stay at the position where collision is detected.
Self-collision detection
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