_R-STS01mightyZAP Servo Tester Shield Manual_ENG_V1.2 19D5

IR-STS01 Servo Tester Shield Manual V.1.1
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6.16. Compliance Margin
Set maximum positional error allowance using ComplianceMargin() command.
Select [Example] - [MightyZap] - [UNO/LEO]–[ServoTester_ComplianceMargin]
Tester.Mightyzap.complianceMargin(int ID_NUM,int Direction)/Parameter
Read
• Function : Compiance Margin read
• Parameter
- ID_NUM : Servo motor ID
- Direction
Data Description
Short Compiance Margin for retract(short) direction
Long Compiance Margin for extend(long) direction
Tester.Mightyzap.complianceMargin(int ID_NUM, int Direction, int
margin)/Parameter Write
• Function : Compiance Margin setting
• Parameter
- ID_NUM : Servo motor ID
- Direction
Data Description
Short Compiance Margin for retract(short) direction
Long Compiance Margin for extend(long) direction
- Margin : Compliance margin means error range between goal
position and present position. The higher compliance margin, the higher
deadband. The lower compliance margin, the higher accuracy, but the higher
chance of jitter.
complianceMargin()
- Set maximum positional error allowance
- The higher compliance margin, the higher deadband. The lower
compliance margin, the higher accuracy, but the higher chance of
jitter.
Compliance margin can be set for each retract(short) and
extend(long) direction.
Check position error range using goalPosition() command.