Dynamixel bus
Dynamixel bus
by Ignazio
Tue Sep 16, 2008 9:26 am
Hi,
I'm working on a project to build a robotic arm with dynamixel rx-series.
It is possible to put a rx64 and a rx28 on the same bus (@16V)?
Thank you in advance,
Ignazio.
I'm working on a project to build a robotic arm with dynamixel rx-series.
It is possible to put a rx64 and a rx28 on the same bus (@16V)?
Thank you in advance,
Ignazio.
by Ignazio
Wed Sep 17, 2008 11:39 pm
Thank you for reply.
I'm also using a Bioloid kit. If I read the "Present Load" registers (L and H) while imposing an exernal torque to the servo (fixed in a goal position), I always read a small value (e.g. 4,10 CW or CCW).
What does it mean? What does the "Present Load" really do?
Thanks again,
Ignazio.
I'm also using a Bioloid kit. If I read the "Present Load" registers (L and H) while imposing an exernal torque to the servo (fixed in a goal position), I always read a small value (e.g. 4,10 CW or CCW).
What does it mean? What does the "Present Load" really do?
Thanks again,
Ignazio.
by StuartL
Thu Sep 18, 2008 2:07 pm
It effectively tells you how hard the motor is working to hold that position. Because of what we can only assume to be quantisation errors the numbers you get out aren't that useful. The friction of the drive train has a significant impact here too, as the drive train is so high friction the motor can sometimes use very little torque to hold some quite bizarre positions.