Dynamixel MX-106T (2.0)+OpenCM9.04+Arduino IDE_Extended Position Control Mode+Current limit

[RATHORE]

@Jonathon

Let me know if this helps with the issue you’re seeing or whether you have any questions!

The problem is I am unable to set the Current_Limit in the eeprom area I tried many ways but failed I don’t know where I am mistaken.

@Jonathon

If you read the description of Current Limit for MX-106 (2.0) in the e-Manual

Yes, I think Current_Limit can’t be used the same way like I tied Torque_limit for protocol (1.0) as;

@RATHORE

// MX1.0, 
  dxl.writeControlTableItem(MOVING_SPEED, DXL_ID, 100); 
  if(dxl.writeControlTableItem(TORQUE_LIMIT, DXL_ID, 1000))
  {  
   dxl.setOperatingMode(DXL_ID, OP_EXTENDED_POSITION); /
  if(dxl.setGoalPosition(DXL_ID, 10000)){
     delay(5000);
  }

@Jonathon

you will see that it is only used to limit accepted values that can be written to Goal Current

Yes the Current_Limit only works when the GoalCurrent is used, otherwise it won’t limit the current and the torque can be find at maximum limit even after setting the Current Limit (what I experienced and I am not sure).

@Jonathon

To limit the current used for motions, you will most likely want to use Goal Current

Yes GoalCurrent worked for me.

@Jonathon

Let me know if this helps with the issue you’re seeing or whether you have any questions!

Yes it is working using GoalCurrent but I think we are unable to limit the current using Current_limit alone.