I set the servo to different current levels to control the torque. Can I also set a limit for the position in current mode? That it turns by a maximum of -90 or 90 degrees?
Which Dynamixel are you using?
Please refer to the product manual for information on supported modes and position limits.
Max Position Limit(48) and Min Position Limit(52) are used only in 1 rotation position control mode.
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