Before you start
In the Teleop workspace, the follower follows the leader's pose. Connect both supplied arms and check the saved calibration for each role. The app uses one follower calibration and one leader calibration automatically. Prepare the equipment as described in Safety, Connection, and Calibration.
Synchronize and follow
- Clear the motion ranges of both arms. Prepare the equipment so a torque release cannot cause a fall or collision.
- Place the relaxed leader at the starting pose, support it, and keep it still.
- Support the follower, confirm readiness, and use the header Servo torque switch to enable all follower servos. Synchronization does not enable torque for you.
- Select Sync follower position, check the clear path, and confirm. Keep clear of the follower while it moves to the captured leader pose.
- Once synchronization is confirmed, select Start following within the displayed 10-second hold, then move the leader slowly. If you are not ready, let the hold expire and repeat preparation; do not rush.
- After work, select Stop and wait for the confirmed stop. A normal stop keeps the follower powered in manual control. Support it, then turn its torque off.
Clear the follower's motion path before synchronization. The follower moves from its current pose to the leader pose. Do not move the leader during synchronization.
Do not force a leader that has not relaxed and resists movement. If motion or state is unexpected, follow the Safety stop conditions.
If synchronization expires or is blocked
The app releases follower torque when the synchronized hold expires. Leader movement or follower drift during the hold can also invalidate synchronization and release torque. Recheck how the arm is supported, the motion path, and the recovery instructions shown on screen before enabling torque and synchronizing again. If torque release or recovery cannot be confirmed, use the physical power cutoff.
If the app reports that the position difference is too large, support the follower and turn its torque off. Move it by hand closer to the leader pose, clear the path, then enable all follower servos and synchronize again. Do not force a powered arm or bypass a blocked start.