UFactory XARM User Manual page 86

1.4.1.2 Joint Motion
Acceleration: The acceleration of joint motion. The larger the value, the
less time it takes to reach the set speed. The range is
recommended to be within 20 times the maximum
operating speed [20*180°/s].
Joint step: Set the step length for fine adjustment of single joint rotation
in Live-control.
1.4.1.3 Sensitivity Setting
Collision sensitivity:
•
When the deviation of the torque detected by the joint exceeds a
certain normal range during the movement of the robotic arm, the
robotic arm will automatically stop to prevent the robotic arm or the
operator from being injured. The collision sensitivity range is 0 to 5
levels. When it is set to 0, it means that collision detection is not
enabled. The larger the value is set, the higher the collision sensitivity
level is, and the smaller the additional torque required for the robotic
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