Robotis MX-106R, Manual

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Value Meaning
1 Turn on the torque mode. Cannot control the position or moving speed but only Torque
When Torque Control Mode Enable is 1, DYNAMIXEL behaves like the followings
DYNAMIXEL does not control position or velocity.
DYNAMIXEL is controlled by the Goal Torque value.
DYNAMIXEL does not affected by the Goal position and Goal speed values.
Since position/moving speed is not controlled, DYNAMIXEL behaves as if it is in the wheel
mode.
2. 4. 33. Goal Torque (71)
You can use 0 ~ 2,047 (0x7FF) and the unit is 4.5mA (Torque is directly proportional to the
current value).
If you use a value between 0 ~ 1,023, torque is applied to the CCW direction, and setting it to 0
will stops.
If you use a value between 1,024 ~ 2,047, torque is applied to the CW direction, and setting it
to 1,024 will stops.
That means, 10th bit becomes the CW/CCW direction bit, which controls rotational direction.
Goal Torque cannot be bigger than Torque Limit(34,35).
2. 4. 34. Goal Acceleration (73)
This is Goal Acceleration value.
It can be used from 0~254(0xFE) and the unit is approximately 8.583 [° / sec
2
].
When it is set to 0, there is no control over acceleration and moves with the maximum
acceleration of the motor.
When it is set to 254, it becomes 2,180 [° / sec
2
].
For example, the present speed of DYNAMIXEL is 0, and Goal Acceleration is 10.
The speed of DYNAMIXEL after 1 second will be 14.3 [RPM].
3. How to Assemble
3. 1. Optional Frames
FR05-F101 and FR08-X101
FR05-S101