Robotis Dynamixel Pro Quick Start Manual page 30

Quick Start for Dynamixel Pro v1.00b
- Set the Goal Torque (#604) as -100 and click on 'Apply.'
- Note the rotation of Dynamixel PRO accelerating in the clockwise direction.
- Set the Goal Velocity as 0 to stop rotation.
- Try inputing 30, 100, 400, -400, -100, -30, 0, etc... values into Goal Velocity and
click on 'Apply.' Observe how the Dynamixel PRO responds.
- Goal Torque (#604) value controls the flow of current into Dynamixel PRO.
- The relationship between the Goal Torque value and the current is shown below.
Please refer to Dynamixel PRO datasheet to see how current relates to torque.
Model Relationship between goal torque and current
 (   ) =       ×
H54
H42  (   ) =       ×
33000
2048
8250
2048
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