舵机SR518的内存控制表只到了49,而对48,49的解释是最小PWM。
45(0x2D) | -- |
| 0(0x00) |
| |
46(0x2E) | 运行中标志 | 读 | 0(0x00) | ||
47(0x2F) | 锁标志 | 读/写 | 0(0x00) | ||
48(0x30) | 最小PWM(L) | 读/写 | 90(0x5A) | ||
49(0x31) | 最小PWM(H) | 读/写 | 00(0x00) | ||
|
|
MX28与SR518内存控制表类似:
47 (0X2F) Lock Locking EEPROM RW 0 (0X00)
48 (0X30) Punch(L) Lowest byte of Punch RW 32 (0X20)
49 (0X31) Punch(H) Highest byte of Punch RW 0 (0X00)
然MX64的内存控制表多了几项:
47 (0X2F) Lock Locking EEPROM RW 0 (0X00)
48 (0X30) Punch(L) Lowest byte of Punch RW 0 (0X00)
49 (0X31) Punch(H) Highest byte of Punch RW 0 (0X00)
68 (0X44) Current(L) Lowest byte of Consuming Current RW 0 (0X00)
69 (0X45) Current(H) Highest byte of Consuming Current RW 0 (0X00)
70 (0X46) Torque Control Mode Enable Torque control mode on/off RW 0 (0X00)
71 (0X47) Goal Torque(L) Lowest byte of goal torque value RW 0 (0X00)
72 (0X48) Goal Torque(H) Highest byte of goal torque value RW 0 (0X00)
73 (0X49) Goal Acceleration Goal Acceleration RW 0 (0X00)
因此控制MX64舵机时就要考虑是否要用到这几个参数。
然而对于48,49的punch我一直没有理解什么意思,网上很少查得到中文材料,偶尔看见过翻译,有说过punch(最小启动电压),也有punch(启动加速度),其实我更倾向于启动加速度,谁叫后面有个73加速度的参数呢。
但是看了MX64的官方文档是这样说的:
Punch:
Current to drive motor is at minimum.
Can choose vales from 0x00 to 0x3FF.
原来punch在舵机上来说是最小启动电流啊。
结论:
最小启动电流(Punch)
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