CW/CCW Margin

These parameters are used to set  or read the actuator's margin value.

Compatible Controller

• Controller connectivity

Characteristics

• Margin values are numbers between 0 and 254.
• The margin designates the area around the goal position that receives no torque.  
• The recommended value is 1. Unless otherwise specified, use the recommended value.

 Example

• Set both margins as 1.

CW/CCW Slope

These parameters are used to set or read the actuator's slope value.

Compatible Controller

• CM-5
• CM-510
• CM-700

Characteristics

• The slope value will be created at both CW/CCW  directions, and the output level will be set near the target position.

• If you set the lower slope value, it will reach to the target position by reducing the initial power NOT that much. On the contrary, if you set the higher value, it will reach the target position by reducing considerable powers as it reaches to the goal.

• If you set the lower slope value, it will resist with maximum power not to stray from target position.

• Even if you set the higher value, it will resist with more and more power if it is strayed too much from target position.

• Compliance Slope will be changed into 7 Data representative values according to the input Data. In other words, if you input 25, in real operation, 16 -the representative value of 25-, will be used.  

  Level	Real Data Value	Representative Data Value
  1	0 (0x00) ~ 3(0x03)	2 (0x02)
  2	4(0x04) ~ 7(0x07)	4 (0x04)
  3	8(0x08)~15(0x0F)	8 (0x08)
  4	16(0x10)~31(0x1F)	16 (0x10)
  5	32(0x20)~63(0x3F)	32 (0x20)
  6	64(0x40)~127(0x7F)	64 (0x40)
  7	128(0x80)~254(0xFE)	128 (0x80)

• Appropriate Compliance Slope, Power control, and the Compliance Margin values will make it possible to create smoother movement.

 Example

• Sets both slope values as 32. Binary numbers are used to set the parameter.