Control modes & limitations
The Chinese manuals describe the modes below. Mode availability and parameter ranges depend on the controller and SDK version.
| Mode | Purpose | State shown in the source UI |
|---|---|---|
| Joint position following | Move using joint targets | 1 |
| PVT | Execute an uploaded time-based joint trajectory | 2 |
| Joint impedance | Compliant motion in joint space | 3 |
| Cartesian impedance | Compliant motion in a base or TCP frame | 3 |
| Impedance force control | Apply force in a selected direction | See matching guide |
| Drag teaching | Guide the arm and optionally record a trajectory | See matching guide |
PVT requires an explicit trajectory
The manual gives a 2 ms point interval for its PVT implementation. It warns against selecting Run before uploading the intended trajectory: a pre-existing trajectory may already be stored under an identifier. Review positions, timing, velocity, and the physical path before execution.
Impedance parameters are version-specific
Cartesian stiffness limits differ between controller and software versions, so there is no single default gain set. Use the values for your arm, tool, and controller.
Advanced control and service functions
MIT / PD feedforward control, brake release, encoder zeroing, and sensor-offset changes are advanced service functions and aren't covered in these getting-started guides. Contact Gento support before using them.