Robotis Dynamixel DX-117 - Manual (Page 16)

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DYNAMIXEL DX-Series
From Address 0x18 in the RAM area.
Address 0x18 Torque Enable. When power is first applied the Dynamixel enters the Torque Free Run
condition. To allow torque to be applied Address 0x18 must be set to 1. (Torque Enabled
Condition)
Address 0x19 LED. LED is on when set to 1 and LED is off if set to 0.
Address 0x1A~0x1D Compliance Margin and Slope. The Dynamixel controls Compliance by setting the
Margin and Slope. If used well Compliance will absorb the shocks. The following graph
demonstrates the use of Compliance values (length of A,B,C & D) relative to Position
Error and applied torque.
Address 0X1E,0x1F Goal Position. Requested Angular Position for the Dynamixel to move to. If this is
set to 0x3ff, then the goal position will be 300°.
Goal Position
CW CCW
CW
CCW
B A C D
X axis:Position Error
Y axis:Output Torque
E
A : CCW Compliance Slope(Address0x1D)
B : CCW Compliance Margin(Address0x1B)
C : CW Compliance Margin(Address0x1A)
D : CW Compliance Slope (Address0x1C)
E : Punch(Address0x30,31)
0°
(Goal Position = 0) 300°
(Goal Position = 0x3ff)
150°
(Goal Position = 0x1ff)
300~360°
Invalid Angle
E