Futaba RS302CD - Manual (Page 22)

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Fig. 4.1 Compliance control
Ex. 1) Set punch to 0064H(1%).
Hdr ID Flg Adr Len Cnt Dat Sum
Ex. 2) Servo ID=1 is set as follows:
CW Compliance Margin = 03H
CCW Compliance Margin = 03H
CW Compliance Slope
= 14H
CCW Compliance Slope = 14H
Punch = 0064H
The 6 bytes from memory addresses 24 to 29 are set at one time.
Hdr ID Flg Adr Len Cnt Dat Sum
FA AF 01 00 1c 02 7A 01 64 00
FA AF 01 00 18 06 7A 01 03 03 14 14 64 00
84 03
CCW
CW
CCW CW
Position
Target position
Punch
Punch
A B C D
A： CCW Compliance Slope
B： CCW Compliance Margin
C： CW Compliance Margin
D： CW Compliance Slope