Manual

Set time limit by which the servo stoppage is measured to determine if it has stopped. 1 is equivalent
to 11.ms. If the servo stoppage lasts beyond the time limit, it is determined to be stopped.
Default value is 0x1B ( Approximately 302ms )
Stop Detection Period(RAM Register Address 41)
Set time limit by which the servo overload is measured to determine if the overload has occured.
If the overload period lasts beyond the time limit, it is determined to be overloaded.
Default value is 0x96 ( Approximately 1.68s )
Overload Detection Period(RAM Register Address 42)
The servo is seen as not moving (stopped) when the position movement of the servo is less than
the r(Stop Threshold). The servo is determined to be stopped if the stoppage lasts longer than the
r(Stop Detection Period).
Stop Threshold(RAM Register Address 43)
Standard value to determine if the goal position has been reached.
Goal position is judged to have been reached if the deviation is less than r(Inposition Margin).
Inposition Margin(RAM Register Address 44)
Saturation Offset and Saturation Slope work in similar manner to the PWM. However, by controlling
the limit per given section, accurate Saturator can be designed to provide flexible and elastic
response to the external force. The garph below shows the PWM with several settings.
The thick grey line show the PWM without the Saturator Offset and Slope settings. The red line
shows the actual PWM output with the Saturator Offset & Slope set. The blue dotted line shows the
boundary of the force restrained by the Saturator. The restrain by the Saturator on PWM value
increases when near the goal position and decreases when further away from the goal position.
The effect on PWM is smiliar to having a spring installed near the goal position, resulting in low
strength near the goal position and strength increasing with distance. Assuming the servo is stopped
at the goal position, Saturator allows flexible response to external force, and provides assistance
when trying to hold delicate object.
Saturator Offset, Saturator Slope(RAM Register Address 11, 12)
+PWM
-PWM
PWM Max
Goal
Position
Saturator
Slop
Dead Zone
Saturator
Slop
PWM Max
+Position-Position
Goal Position
Saturation Offset
+PWM
-PWM
+Position-Position
36
Before Saturator
After Saturator