Value |
Description |
|
mcACP6D_FORCE_MODE_EXIT |
0 (default) |
Disables force control |
mcACP6D_FORCE_MODE_Z |
1 |
Enables force control for the z-axis |
mcACP6D_FORCE_MODE_X |
2 |
Enables force control for the x-axis |
mcACP6D_FORCE_MODE_Y |
3 |
Enables force control for the y-axis |
mcACP6D_FORCE_MODE_XY |
4 |
Enables force control for the x- and y-axis |
mcACP6D_FORCE_MODE_RZ |
5 |
Enables torque control around the z-axis |
mcACP6D_FORCE_MODE_RZX |
8 |
Enables torque control around the z-axis and force control for the x-axis |
mcACP6D_FORCE_MODE_RZY |
9 |
Enables torque control around the z-axis and force control for the y-axis |
mcACP6D_FORCE_MODE_RZXY |
11 |
Enables torque control around the z-axis and force control for the x- and y-axis |