Futaba RS302CD - Manual (Page 24)

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●No.30 / No.31 Goal Position(2Bytes, Hex Number, Read/Write)
A servo can be moved to the specified angle. The center of the movement range is 0
degree. Viewed from the top of the servo (nameplate side), the CW (clockwise rotation)
direction is “+” and the CCW (counterclockwise rotation) direction is “－“. When the “No.5
Servo Reverse” is 01H, CW direction is “-” and the CCW direction is “+”.
The goal position unit is about 0.1 deg. To make 90 degrees the target position, set “900”
(900→384H). When an angle larger than the limit angle set at memory addresses No. 8~11
was commanded, the servo operates up to this limit angle. When the Torque is changed
from disable to enable, the servo holds the present position where it was enabled.
Ex. 1) Move servo ID=1 to 90.0°(900→384H).
Hdr ID Flg Adr Len Cnt Dat Sum
Ex. 2) Move servo ID=1 to -90.0 degrees (-900→FC7CH).
Hdr ID Flg Adr Len Cnt Dat Sum
●No.32 / No.33 Goal Time(2Bytes, Hex Number, Read/Write)
The movement duration of a servo up to the goal position can be set. The duration is set
is 10ms units. When a command value exceeding the maximum speed of the servo was set.
the servo moves at its maximum speed.
Ex. 1) Move servo ID=1 to 90.0 degrees (900→384) in 5 seconds (since this is 5000ms,
500(01F4H).
Hdr ID Flg Adr Len Cnt Dat Sum
Ex. 2) Move servo ID=1 to －120.0 degrees (－1200→FB50H) in 10 seconds (since this is
10000ms, 1000(03E8H).
Hdr ID Flg Adr Len Cnt Dat Sum
●No.35 Maximum Torque(1Byte, Hex Number, Read/Write)
The maximum torque output by the servo can be set. The servo torque can be set in 1% units with the
torque of the servo described in this manual as 100%. However, consider this an approximate standard.
Even if a value over 100% is set, the maximum torque becomes 100%.
64H（100%）is the initial value for RS301CR,and 4DH（77%）is for RS302CD.
FA AF 01 00 1E 02 9B 01 8403
FA AF 01 00 1E 02 9C 01 7CFC
FA AF 01 00 20 04 A5 01 84 03 F4 01
FA AF 01 00 20 04 64 01 50 FB E8 03