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  • Very carefully.

    This is a simple program I used to put the E2 axis into soft-servo mode and drive it to close a gripper onto a pallet (the pallets changed size, so I had to use a force-based gripper).

    You should not use Soft Servo for any axis that has potential to fall -- A2 and A3 most especially, and the wrist axes are... questionable. And the motion of an axis in Soft mode is a bit odd -- the axis will stop moving physically once the torque limit is reached, but if you watch the live Joint Position display, the axis keeps moving "virtually" until the motion command is complete. So $POS_ACT and $AXIS_ACT will not be accurate until you force a move after exiting Torque mode (the Next_Pos move in the above example).

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