Slope P Gain
Slope P Gain
8
128
16
64
32
32
64
16
128
8
The less the P gain, The larger the back lash, and the weaker the amount of output near goal
position.
At some extent, it is like a combined concept of margine and slope.
It does not exactly match the previous concept of compliance. So it is obvious if you see the
difference in terms of motion.
Explanation for PID required.
For the brief explanation about general PID, please refer to the website(link) below.
http://en.wikipedia.org/wiki/PID_controller
FYI, PID control theory is not only limited to the control of motor(actuator) but is a generic
theory that can be applied to all kinds of control.
It is a position value of destination.
0 to 4,095 (0xFFF) is available. The unit is 0.088 [°].
If Goal Position is out of the range, Angle Limit Error Bit (Bit1) of Status Packet is returned as
‘1’ and Alarm is triggered as set in Alarm LED/Shutdown.
The picture above is the front view of DYNAMIXEL
In multi-turn mode DYNAMIXEL has a range from -28,672 to 28,672 (can turn up to 7
revolutions in either CW or CCW direction).
When resolution divider is set to a different value revolutions can increase.
NOTE
: If it is set to Wheel Mode, Goal Position value is not used.
