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POST No. 2406694
MX-106R Master/Slave configuartion
2018-02-08 06:09:07 anikal

Hi Robotis community, 


I have more question regarding connecting MX-106 in master/slave. What commands get carried over from the master to slave? Is it only the position, velocity and acceleration? For example if I want to enable the torque bit on the motors, should I be having two instruction packets or one? What about position and other instructions? 


Thank you for the amazing and fast response 


Anis 


2018-02-08 06:09:07
anikal
2018-02-08 13:49:43 Will Son

Hi Anis,


When two MX-106(Master & Slave) are connected with a Synchronization Cable, the slave Dynamixel will be operated by PWM signal.

Therefore, only Master Dynamixel will receive an instruction packet and deliver the PWM signal to the Slave Dynamixel via the sync cable.

Please refer to Drive Mode section of the eManual.

2018-02-08 13:49:43
Will Son
2018-02-08 21:58:13 Anis

Hi Will,


Thank you for your prompt reply. I completely understand that, my question is in relation to setting up the torque bit for this configuration. If I want to set up the torque bit to enable the motor, I need two instruction packets. Is that right? 


Thank you again 

2018-02-08 21:58:13
Anis
2018-02-09 09:25:47 Will Son

Anis,

When using two MX-106 as Master and Slave mode, the slave mode Dynamixel does not need to be torque enabled as Slave will be always ready to move with the PWM input signal.

Did I correctly understand your question? Please let me know if I missed it again :)

2018-02-09 09:25:47
Will Son
2018-02-09 22:13:37 Anis

Good morning Will,


That answers your question. Thank you so so much :D 


Anis 

2018-02-09 22:13:37
Anis
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