C, C++:

Multiple Drag Teaching Parameters rm_multi_drag_teach_t

Class member variable description

free_axes

Free driving directions [x, y, z, rx, ry, rz], 0: non-draggable on the corresponding axis of the reference frame, 1: draggable on the corresponding axis of the reference frame.

int rm_multi_drag_teach_t::free_axes[6]

frame

Reference frame, 0: work frame, 1: tool frame.

int rm_multi_drag_teach_t::frame

singular_wall

Available only for the drag teaching in the 6-DoF force mode to enable or disable the drag singular wall, 0: disable drag singular wall, 1: enable drag singular wall, default: enable drag singular wall if no settings.

int rm_multi_drag_teach_t::singular_wall