Robotis Dynamixel RX-64 - Manual (Page 17)

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DYNAMIXEL RX-64
Address 0x18 Torque Enable. When the power is first turned on, the Dynamixel actuator enters the
Torque Free Run condition (zero torque). Setting the value in Address 0x18 to 1 enables
the torque.
Address 0x19 LED. The LED turns on when set to 1 and turns off if set to 0.
Address 0x1A~0x1D Compliance Margin and Slope. The compliance of the Dynamixel actuator is defined
by setting the compliance Margin and Slope. This feature can be utilized for absorbing
shocks at the output shaft. The following graph shows how each compliance value
(length of A, B, C & D) is defined by the Position Error and applied torque.
Address 0X1E,0x1F Goal Position Requested angular position for the Dynamixel actuator output to move to.
Setting this value to 0x3ff moves the output shaft to the position at 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