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POST No. 2407434
Continuous Rotation in Position Control Mode
2019-06-04 18:57:15 radeshwar

Hi,


I am using H42-20-S300-R for one of my application.


I want to run the actuator continuously in Position Control mode. How can I do that?


When I give position 179 deg it is rotating in one direction but then I give Goal Position as 181 deg it starts rotating in the opposite direction.


It there a way to rotate the actuator according to the shortest path?


I tried Extended Position Control Mode as well but even when I give my Max & Min limits to be 0. Its still behaving the same way.


Kindly suggest me a method so that I can make continuous rotations in Position Control Mode.



Thanks,


Radesh

2019-06-04 18:57:15
radeshwar
2019-06-05 09:25:58 Will Son

Hi,


http://emanual.robotis.com/docs/en/dxl/pro/h42-20-s300-r/#goal-position596-present-position611

If you are crossing 180 ~ -180 zone, DYNAMIXEL will definitely try to pass 0 location as it does not allow you to cross the border in Position Control Mode.

If you need to use this zone without rotating the other way around, you need to use Extended Position Control Mode and assign proper Goal Position value(something like 152,719) for 181 degree.


Please note that Min/Max Position Limit will be ignored in Extended Position Control Mode.

http://emanual.robotis.com/docs/en/dxl/pro/h42-20-s300-r/#minmax-position-limit36-40


Thank you.

2019-06-05 09:25:58
willson
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