Data Sheet

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3.4 SimpleTorqueOnOffandFK
Turns the manipulator joints’ torque on/off. When torque goes off→on
Forward Kinematics runs and putputs all joints pose(rad) and end effector’s
position and orientation.
ⅰ) How to Use SimpleTorqueOnOffandFK
To start SimpleTorqueOnOffandFK start a new project just like SimplePtoP.
Then press the Ctrl+F5 keys to begin.SimpleTorqueOnOffandFK.
Input the COM port and baud rate numbers. If succeeded you will see a
'Succeed to open USB2Dynamixel;' then torque gets turned off. Press the Enter
key turn torque on and the arm’s joints pose(rad) and end effector’s pose(rad)
will be displayed (joints 1 through 6).