Robotis USB2Dynamixel User Manual page 19

G oal Position
PWM Control Property A dynamixel can be smoothly driven by setting the value of PWM Control Property.
C W Compliance
Margin
C CW Compliance
M argin
CW Compliance
Slope
CCW Compliance
Slope
User's Manual
the m anual of each dynamixels. The Speed value 1 is the lowest speed, and the
Spee d value 0 the highest.
Sets the driving angle of a dynamixel. Adjust it by moving the scroll bar with the
mouse. For the fine tuning, use the left and right direction keys ( ←, → ) on the
keyboard. The value of Goal Position can be set 0 to 1023 as data value of positio
The value in the brackets is the angle.
The Center button is to move the dynamixel to the center (Position Data: 512).
CCW
CW
CW
Y axis: Output Torque
Sets a margin where torque is removed before arriving at Goal Position
while moving it clockwise.
Sets a margin where torque is removed before arriving at Goal Position
while moving it counter-clockwise.
Sets a margin where torque is slowly removed before arriving at Goal Position
while moving it clockwise.
Sets a margin where torque is slowly removed before arriving at Goal Position
while moving it counter-clockwise.
Goal Position
A
B C
A : CW Compliance Slope
B : CW Compliance Margin
C : CCW Compliance Margin
D : CCW Compliance Slope
E : Punch
18
E
CCW
E
X axis: Position
D
n.