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Compliance / Punch on MX-28

조회 수 2571 추천 수 0 2012.03.11 02:27:57
prounds *.221.227.16

I'm using the MX-28 in a non-standard application, and I want to, essentially, stop and start the motion on a dime.  I specify the speed and target angle in my application.  In the RX series you could set the compliance, here it seems I want to set the punch.  What parameters should I use to, essentially, state that I don't want the MX-28 to slow down when approaching the target angle, and to instantly achieve the set velocity when beginning motion?

 


[레벨:30]ROBOTIS

2012.03.13 15:16:01
*.112.9.210

Hi Prounds,

 

There is no difference in the PUNCH function of the RX and MX series.

 

The COMPLIANCE setting in the RX series has been changed to the PID control for the MX series.

If you set P and I as 32, you will be able to make a strong movement.

If the value of P is low, you will be able to make a soft movement.

 

Try adjusting the PID for the desired movement.

 

ROBOTIS

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