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Remote Control

Mode Definitions

Concept Description
Zero Torque Mode The initialization state after the program starts. All robot joints enter zero-torque control, with no damping sensation when moved.
Damping Mode All robot joints stop active motion and remain at their current positions, with a noticeable damping sensation when moved.
Ready Mode Preparation state in which preset actions can be executed, teleoperation can be enabled, or data recording can be started.
Developer Mode Recommended to enter from Damping Mode. Used for SDK development. In this mode, user control data can be received to implement custom control.

Operation Instructions

Mode Button Previous State Function Description
Zero Torque Mode A Program start Enter Zero Torque Mode, all joints return to the initial zero position
Damping Mode LT + B Any mode Can be triggered in any mode, used for safe standby or stopping motion
Ready Mode X Zero Torque Enter Ready Mode from Zero Torque Mode, enabling preset actions, teleoperation, or data recording
RB Ready Execute a single preset action
RT + RB Ready Continuously execute multiple preset actions
D-pad → Ready Enable teleoperation receiving mode
D-pad ← Ready Exit teleoperation receiving mode
LT + LB Ready Start / stop data recording
Developer Mode LT + Y Damping Enter Developer Mode from Zero Position Mode, receive user control data, and implement custom control
LT + B Developer Exit user control and switch back to Damping Mode
Exit Program LT + RT Any mode Exit the program. In emergencies, press to immediately terminate program control

Data Recording Function

  • Start recording: LT + LB
  • Stop recording: LT + LB
  • Path: pnd_adam_dds/logs/retarget_record.txt
  • Content: 31-dimensional data (all joints + finger positions)
  • Motion replay: Copy the recorded file to the pnd_adam_dds/resource/motion directory for loop playback

Button Description

Controller layout

Pairing & Connection

The controller is paired by default at the factory and connects automatically on startup. If you need to replace the controller and re-pair it, follow the steps below:

  1. Enter the robot IP in the browser: 192.168.XX.XX (found on the back of the controller) to access the PAC interface.
  2. Press and hold the controller pairing button until the indicator light flashes rapidly.
  3. Click “Wireless Settings”, find the device name “Xbox Wireless Controller” under “Available Devices”, and click to pair and connect. remote_pair