Data Sheet

33
Press the Ctrl + F5 keys simultaneously and the screen should appears like the
picture above
From ArmMonitor01 change the joint’s target position and joint parameter to
move the arm.
Use the directional keys to move cursor. Use the ‘[’ ‘{’ keys to lower values
and ‘]’ ‘}’ to increase.
From the picture (from the screen output) with the red area with “1” it shows
the joints current pose (Present Value) and end effector’s pose.
The red area with “2” shows the target pose (Goal Value) for all joints.
The red area with “3” shows the parameters of all joints (Velocity, Acceleration,
Position P Gain, I Gain, D Gain, Velocity P Gain, I Gain).
Values from joints 2 and 3, Calc<rad> and DYNAMIXEL<rad>, show on
the red ares with “1” and “2” due to difference between point of origin and
DH Configuration.
Calc<rad> is the calculated angle from DH and DYNAMIXEL<rad> from the
servo’s. The cursor and only control Goal Value Joint Parameter.