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In this mode, the robotic arm can accept joint position
commands sent at a fixed high frequency like 100Hz (Note: not
a Cartesian commands). The robotic arm responds
immediately after receiving each command and executes at
the maximum speed. If the user can complete the planning of
the motion trajectory with smooth speed and acceleration and
map it to the joint space, the servoj mode can replace the
planning of the control box, and let xArm execute the user's
own or third-party (such as ROS Moveit!) planning algorithm.
Do not use this mode if users cannot implement trajectory
planning and inverse kinematics by themselves.
● Mode 2: Joint teaching mode.
In this mode, the robotic arm will enter the zero gravity mode,
and the user can freely drag the links of the robotic arm to
complete the teaching function. If the drag teaching is
completed, switch back to mode 0.
*Note for safe use: Before turning on the joint teaching mode, be sure to
confirm that the installation direction of the robotic arm and the TCP
load are set correctly, otherwise the arm may not be able to remain
stationary due to inaccurate gravity compensation!*
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