Parameter Reference¶

1. Battery & Power¶

`battery_config`¶

Defines how the Status of Charge (SoC) is calculated.

Type: array<double> (size = 7)
Format: [type, cutoff_voltage, fully_charged_voltage, coeff_0, coeff_1, coeff_2, coeff_3]

Field	Description
type	0: Voltage-based automatic calculation 1: Fixed manual level (test mode)
cutoff_voltage	Voltage corresponding to 0% (V)
fully_charged_voltage	Voltage corresponding to 100% (V)
coeff_0 ~ coeff_3	Coefficients of a 3rd-order polynomial for voltage-to-percentage conversion

Formula: percent = coeff_3V^3 + coeff_2V^2 + coeff_1*V + coeff_0

`soft_stop_enabled`¶

Determines whether a soft stop sequence is applied when turning off 48V power.

Type: int (0 or 1)
Default: 0

Value	Description
0	Immediate power OFF
1	Soft stop enabled

Soft stop sequence:

Switch to Position Lock
Engage brake
Enable Gravity Compensation
Reduce compensation ratio (1.0 → 0.6 over ~0.5 sec)
Turn off 48V power

`power_command.timeout`¶

Maximum time to wait for the power state to reach the target (ON/OFF).

Type: double
Default: 1.0
Range: 0.0 ~ 10.0
Unit: sec

If exceeded → command is marked as failed

`major_fault_power_off_target`¶

Specifies the power-off targets when a Major Fault occurs.

Type: string (regex)
Default: ".*"

⚠️ Internally applied as "48v|" + pattern
→ 48V is always included in the power-off target

2. Command Timeout / State Validation¶

Preset Position¶

`preset_position_command.new_data_timeout`¶

Maximum time to wait for fresh joint state data before executing the command.

Type: double
Default: 3.0 sec
Range: 0.0 ~ 10.0
Unit: sec

`preset_position_command.timeout`¶

Maximum time to wait for the preset state to be reached.

Type: double
Default: 5.0 sec
Range: 0.0 ~ 30.0
Unit: sec

Timeout → command fails

Servo On¶

`servo_on_command.new_data_timeout`¶

Maximum time to wait for fresh state data before executing Servo On/Off.

Type: double
Default: 3.0 sec
Range: 0.0 ~ 10.0
Unit: sec

`servo_on_command.timeout`¶

Maximum time to wait for the joint to become ready after Servo On.

Type: double
Default: 15.0 sec
Range: 0.0 ~ 30.0
Unit: sec

Timeout → command fails

3. Dynamics¶

`gravity`¶

Gravity acceleration vector used in dynamics computation.

Type: array<double, 3>
Default: [0, 0, -9.8]
Unit: m/s²

Used for gravity term calculation and gravity compensation torque.

4. Limit Scaling¶

`default.acceleration_limit_scaling`¶

Scaling factor applied to joint acceleration limits.

Type: double
Default: 1.0
Range: 0.01 ~ 1.5

Applied concept: acceleration limit = joint acceleration limit × default.acceleration_limit_scaling

If a request-specific acceleration_limit_scaling is provided, the final acceleration limit is computed as: joint acceleration limit × default.acceleration_limit_scaling × request.acceleration_limit_scaling

`default.velocity_limit_scaling`¶

Scaling factor applied to joint velocity limits.

Type: double
Default: 1.0
Range: 0.01 ~ 1.5

Applied concept: velocity limit = joint velocity limit × default.velocity_limit_scaling

If a request-specific velocity_limit_scaling is provided, the final velocity limit is computed as: joint velocity limit × default.velocity_limit_scaling × request.velocity_limit_scaling

`default.torque_limit_scaling`¶

Scaling factor applied to joint torque limits.

Type: double
Default: 1.0
Range: 0.01 ~ 1.5

Applied concept: torque limit = joint torque limit × default.torque_limit_scaling

5. Acceleration Limits¶

`default.linear_acceleration_limit`¶

Default linear acceleration limit used by Cartesian-type commands.

Type: double
Default: 20.0
Range: 0.01 ~ 60.0
Unit: m/s²

`default.angular_acceleration_limit`¶

Default angular acceleration limit used by Cartesian-type commands.

Type: double
Default: 10.0
Range: 0.01 ~ 30.0
Unit: rad/s²

6. Tracking Error¶

`default.cartesian_command.stop_position_tracking_error`¶

Position tracking error threshold used to determine completion of a Cartesian Command.

Type: double
Default: 0.005
Range: 1e-4 ~ 0.1
Unit: mm

If the position error is smaller than this threshold, the target is considered reached.

`default.cartesian_command.stop_orientation_tracking_error`¶

Orientation tracking error threshold used to determine completion of a Cartesian Command.

Type: double
Default: 0.02
Range: 1e-3 ~ 0.1
Unit: rad

If the orientation error is smaller than this threshold, the target is considered reached.

`default.cartesian_command.stop_joint_position_tracking_error`¶

Position tracking error threshold used to determine completion of a Cartesian Command.

Type: double
Default: 0.01
Range: 1e-3 ~ 0.1
Unit: rad

If |q - q_target| is smaller than this threshold, the target is considered reached.

`default.cartesian_impedance_control_command.stop_joint_position_tracking_error`¶

Joint position tracking error threshold used to determine completion of a Cartesian Impedance Control command.

Type: double
Default: 0.01
Range: 1e-3 ~ 0.1
Unit: rad

`default.cartesian_impedance_control_command.stop_orientation_tracking_error`¶

Orientation tracking error threshold used to determine completion of a Cartesian Impedance Control command.

Type: double
Default: 0.02
Range: 1e-3 ~ 0.1
Unit: rad

`default.cartesian_impedance_control_command.stop_position_tracking_error`¶

Position tracking error threshold used to determine completion of a Cartesian Impedance Control command.

Type: double
Default: 0.005
Range: 1e-4 ~ 1.0
Unit: mm

7. Motion Filtering & Canceling¶

Common concepts applied across multiple commands.

`cutoff_frequency`¶

Low-pass filter (LPF) cutoff frequency

Higher value → faster response (less smooth)
Lower value → smoother motion (slower response)
Type: double
Default: 15
Range: 1e-3 ~ 100
Unit: Hz

`canceling_time`¶

Time constant for smooth deceleration when canceling a command

Type: double
Default: 0.1
Range: 1e-3 ~ 1.0
Unit: sec

Applied To¶

jog_command
joint_position_command
joint_group_position_command
joint_impedance_control_command
cartesian_command
cartesian_impedance_control_command
optimal_control_command
joint_velocity_command
se2_velocity_command
stop_command

8. Jog Control¶

`jog_command.one_step_size`¶

Joint angle step size for one-step mode in Jog Command.

Type: double
Default: 0.087 rad (≈ 5°)
Range: 0.017453293 ~ 0.17453293 (1° ~ 10°)
Unit: rad

9. SE2 Base Control¶

`default.se2_velocity_command.acceleration_limit`¶

Default acceleration limit used by SE2 Velocity Command.

Type: array<double,3>
Default: [1.0, 5.0, 99.0]
Order: [angular, linear.x, linear.y]

This defines the acceleration ramp limit toward the target angular and linear base velocities.

10. Optimal Control¶

`default.optimal_control_command.stop_cost`¶

Cost threshold used to determine convergence of an Optimal Control Command.

Type: double
Default: 1e-3
Range: 1e-6 ~ 1e9

The command is considered converged when: last_cost < stop_cost

11. Safety & Stability¶

`manipulability_threshold`¶

Manipulability threshold used to detect singularity risk during control.

Type: double
Default: 1e4
Range: 1e2 ~ 1e10

If the current manipulability value exceeds this threshold, the command fails due to a singularity condition.

`real_time_control.max_timeout_count`¶

Maximum number of consecutive communication timeouts allowed in Real-Time Control.

Type: int
Default: 10
Range: 1~500

If the number of consecutive timeouts reaches this value, control is safely terminated (finish = true).

Parameter Reference¶

1. Battery & Power¶

battery_config¶

soft_stop_enabled¶

power_command.timeout¶

major_fault_power_off_target¶

2. Command Timeout / State Validation¶

Preset Position¶

preset_position_command.new_data_timeout¶

preset_position_command.timeout¶

Servo On¶

servo_on_command.new_data_timeout¶

servo_on_command.timeout¶

3. Dynamics¶

gravity¶

4. Limit Scaling¶

default.acceleration_limit_scaling¶

default.velocity_limit_scaling¶

default.torque_limit_scaling¶