Compliance and update rate

[Flyby123]

Hi All,

I have a question on the Dynamixel AX12+/RX28 servos.
I would like to know the maximum update rate when 3 servos are on the bus.
FYI: I am not really interested in the baudrate (although that matters as well) but more in how many times a second the servos can be updated (with an external Atmega M128).
Is 250 Hz (4 ms) doable?

I would also like to know if this rate can be maintained when compliance kicks in because from the little info I found I got 7 Hz?

So beside driving the servos to a position as fast as possible I would like the servos to absorb the occasional jerk/shock.

TIA,

Jim

[MikeG]

If your device is communicating directly on the bus, not coming from a PC like going through USB first, then you can send commands faster than the motor can respond. What is that rate? It depends on your speed setting, voltage, max torque and instruction. Some instructions return a status packet with a 500 uSec delay.

I'm not sure how you would go about testing compliance. I believe you would need to take a look at the source code. I guess it would make sense if compliance uses the same timing as present position.