UFactory XARM User Manual page 185

2.1.2 Analysis of Robotic Arm Movement Mode
4 motion modes of the control box: (Python SDK: set_mode ())
● Mode 0: Position control mode.
In this mode, the robotic arm can execute a series of motion
commands (joint motion, linear motion, circular motion, etc.)
automatically planned by the control box, which is also the
mode that the control box enters by default after startup.
● Mode 1: Servoj mode.
Operators who design the robotic arm motion path
must be qualified with the following conditions:
1. The operator should have a strong sense of
security consciousness, and sufficient knowledge
on robotic arm operations.
2. The operator should have in-depth knowledge
on the robotic arm and understands the joint
motion mode and the linear motion mode.
3. The operator should have safety knowledge on
emergencies.
4. When planning the path for the robotic arm, the
risk assessment must be done and the operator
should be cautious.
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