Robotis Dynamixel AX-12 User Manual page 17

DYNAMIXEL
Address 0x18
Address 0x19
Address 0x1A~0x1D
Address 0X1E,0x1F
AX-12
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.
LED. The LED turns on when set to 1 and turns off if set to 0.
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.
CW
CCW
CCW
Y axis:Output Torque
A : CCW Compliance Slope(Address0x1D)
B : CCW Compliance Margin(Address0x1B)
C : CW Compliance Margin(Address0x1A)
D : CW Compliance Slope (Address0x1C)
E : Punch(Address0x30,31)
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 = 0x3ff)
Goal Position
A
B C
150°
(Goal Position = 0x1ff)
300°
300~360°
Invalid Angle
16
E
CW
E
X axis:Position Error
D
0°
(Goal Position = 0)