RX-64
26
3-4-2
Control Table Items ( RAM Area )
Torque Enable
Address 24 (0x18) When the power is supplied to RX-64 for the first time, RX-64 is in the
Free Run state in which case there is no torque generated. When Torque Enable is set
as "1”, Torque is generated.
LED
Address 25 (0x19) When it is set as “1”, LED is turned on; when it is set as “0”, LED is
turned off.
Compliance
Address 26~29 (0x1A~0x1D) Compliance is to set the pattern of output torque. Making
Margin & Slope
well use of it will result in shock absorption, smooth motion, etc. The length of A, B, C,
and D in the below graph ( Position vs. Torque curve ) is the value of Compliance.
Compliance Margin is available from 0 to 254 (0xFE) while Compliance Slope is valid
from 1 to 254 (0xFE).
B and C (Compliance Margin) are the areas where output torque is 0.
A and D (Compliance Slope) are the areas where output torque is reduced when they
are getting close to Goal Position. The wider these areas are, the smoother the motion
is.
A : CW Compliance Slope (Address 28)
B : CW Compliance Margin (Address 26)
C : CCW Compliance Margin (Address 27)
D : CCW Compliance Slope (Address 29)
E : Punch (Address 48, 49)
Goal Position
CCW
CW
CCW
CW
X axis: Position
Y axis: Output Torque
B
A
C
D
E
E
