Robotis Dynamixel DX-117 - Manual (Page 26)

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DYNAMIXEL DX-Series
Example 16 Turn on the LED of the Dynamixel with ID=0 and enable the torque.
Instruction Packet Instruction = WRITE_DATA, Address = 0x18, DATA = 0x01, 0x01
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
Physical confirmation of an enabled torque can be obtained by attempting to rotate the
motor with your hand.
Example 17 Set the Dynamixel with ID=0 to have a Compliance Margin = 1 and Compliance
Slope=0x40
Compliance The following graph shows the Angle Error and Torque Output.
If the position is slightly deviated from the goal position, the motor will generate a high
torque to try to adjust its position to that of the goal position. The true control method is
different due to the inertia. The condition provided in the above example can be shown in
the graph below:-
A : CCW Compliance Slope(Address0x1D) = 0x40(Approximately 18.8°)
B : CCW Compliance Margin(Address0x1B) = 0x01 (Approximately 0.29°)
Goal Position
CW
X:Angle Error
CCW
CW
CCW
Goal Position
CW CCW
CW
CCW
B A C D
Angle(Position)
Output Torque