Axis Dynamixel AX-12 Manual do Utilizador descarregar pdf (Página 28)

DYNAMIXEL

AX-12

Communication ->[Dynamixel]:FF FF 00 05 03 18

01 01 DD (LEN:009)

<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)

Status Packet Result NO ERROR

You can verify the Torque Enabled status by trying to move the output of the actuator by

hand.

Example 17

Setting the Compliance Margin to 1 and Compliance Slope to 0x40 for a

Dynamixel actuator with an ID of 0

Compliance The Angle Error and Torque Output can be represented with the following graph.

CCW

X:Angle Error

Goal Position CW

CCW

Even if the position deviates a little from the goal position in the CW direction, a large

amount of torque is generated in the CCW direction to compensate for this. However,

since inertia must be considered, a realistic implementation differs from this approach.

Considering this, the given conditions can be represented by the following graph.

CW Goal Position

Output Torque

Angle(Position)

D C

CCW

A : CCW Compliance Slope (Address0x1D) = 0x40 (about 18.8°)

B : CCW Compliance Margin (Address0x1B) = 0x01 (about 0.29°)

C : CW Compliance Margin (Address0x01A) = 0x01 (about 0.29°)

D : CW Compliance Slope (Address0x1C) = 0x40 (about 18.8°)

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Axis Dynamixel AX-12 Manual do Utilizador Página 28