Futaba RS302CD - Manual (Page 21)

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*Note that rewriting this memory map value will null and void the product warranty.
●No.24 / No.25 Compliance Margin(1Byte, Hex Number, Read/Write)
These data specify the allowable range of the servo stop position. If the present value is
within the range set here relative to the specified target position, the servo is judged to
have reached the target position and is stopped. CW and CCW can be set individually.
Setting is in approximately 0.1 Degree units.
The initial value is 02H(0.2 degree). We recommend that the initial value not be changed
because in most cases, it is the optimum value.
The setting range is 00H ~ FFH (approximately 25.5 degrees).
※ Please refer to the chart in”●No.28/No29 Punch”.
● No.26 / No.27 Compliance Slope(1Byte, Hex Number, Read/Write)
These data set the range of the torque which attempts to return the servo to the target
position when the present position has deviated from the target position. In the range
specified here, the torque which attempts to return the servo to the target position is
proportion to the difference between the target position and the present position. The CW
and CCW directions can be set individually. Hunting can be reduced and shock can be
absorbed by using this function.
Setting is in approximately 1.0 degree units.
The setting range is 00H ~ 96H (approximately 150 degrees).
The initial values are 0AH(10 deg.) for RS301CR, and 0FH(15 deg.) for RS302CD.
※ Please refer to the chart in ”●No.28/No29 Punch”.
●No.28 / No.29 Punch(2Bytes, Hex Number, Read/Write)
The minimum current applied to the internal motor when a servo is driven can be set.
The region in which the servo does not operate even when a minute movement command is
given can be reduced and the servo can be more accurately stopped at the target position by
setting this value to the optimum value.
The setting should be by 0.01% of the maximum torque.
The setting range is 00H ~ 2710H(100%).
The initial value for RS301CR is B4H(1.8%) and for RS302CD is C8H(2.0%).