RX-64
27
Compliance Slope can be defined as seven levels in total as shown in the below table. It
recognizes the data values 1 to 5 as 4, valid position value, while the data values 6 to 11
as 8. Thus, it is convenient to set up the data of Compliance Slope as the valid position
value in the below table. The initial value is 32 (0x20) in the 4
th
level.
Level
Data Value
Valid Position Value
1
1 (0x00) ~ 5 (0x05)
4 (0x04)
2
6 (0x00) ~ 11 (0x0B)
8 (0x08)
3
12 (0x0C) ~ 23 (0x17)
16 (0x10)
4
24 (0x18) ~ 47 (0x2F)
32 (0x20)
5
48 (0x30) ~ 95 (0x5F)
64 (0x40)
6
96 (0x60) ~191 (0xBF)
128 (0x80)
7
192 (0xC0)~254 (0xFE)
254 (0xFE)
For example, if the current position is set as 200 (0X0C8), Goal Position is set as 512
(0X200), and Compliance is set as below,
Area
A
B
C
D
E
Data
16
5
5
16
10
From the current position 200 to 491 ( 512-16-5=491 ), movement is made with
appropriate torque to reach the set speed; from 491 to 507 ( 512-5=507 ), torque is
continuously reduced to the Punch value; from 507 through 517 ( 512+5=517 ), no
torque is generated.
Goal Position
CCW
CW
CCW
CW
X axis: Position
Y axis: Output Torque
491
200
507
512
10
517
