Dynamixel  2.9.5
RoadNarrows Robotics Dynamixel Package
Modules
RAM Position Control Method
Dynamixel Servos » Servo Memory-Mapped Control Table » Generic Control Table Memory Map

Modules

 RAM Compliance Position Control Method
 
 RAM PID Position Control Method
 

Detailed Description

RAM addresses 26(0x1a) - 29(0x1d) are overlaid with two different position control methods. Which method used is dependent on the servo model.

The compliance control method specifies a simple torque (speed) ramp down and margin to achieve the goal position. It is used by many of the existing models.

The PID control method, that replaced the above method in newer servos, defines the set of constants used by the servo to achieve the goal position via a classic Proportional-Integral-Derivative controller.