Manual

※ r(Diff Position) 1 = 29.09deg/sec
Shows velocity measurement, velocity is measured in 11.2ms intervals.
Diff Position(RAM Register Address 60)
Shows current Torque in raw data, maximum value is 1023.
PWM(RAM Register Address 62)
Shows uncalibrated goal position in raw data.
Absolute Goal Position(RAM Register Address 66)
Shows uncalibrated current position in raw data. Relationshop between Raw Data and actual degree
is as follows.
Absolute Position(RAM Register Address 60)
Degree = Position Raw Data X 0.325
Absolute Desired Trajectory Position(RAM Register Address 68)
Uncalibrated current goal position in Raw Data. To arrive at user designated absolute goal position,
servo automatically plans out the trajectory to the goal position using the velocity profile. Absolute
Desired Trajectory Position is a “current” goal position or intermediate goal position to be reached on
the way to final goal position.
Refer to the diagram to see the relationship between Absolute Goal Position and the Absolute Desired
Trajectory Position.
Recommended Range
26.7˚
512
1023
(166.7˚)
0
(-166.7˚)
1002
(159.8˚)
21
(-159.8˚)
Full Range
32