Detailed Stop Mode and Applications
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Customers can choose the appropriate stop command type according to different motion-control requirements. See the table below for the available types.
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The stop command can also be used to restore normal operation when a servo is under stall protection.
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When a servo is in the torque-released state, sending the "hold torque" command can rebuild torque from the current position.
| Stop Command Type | Action Mode |
|---|---|
| Release Torque (0x10) | The servo stops moving immediately and releases torque. |
| Hold Torque (0x11) | The servo stops moving immediately and maintains torque, or restores torque when torque is released. |
| Hold Damping (0x12) | The servo stops moving immediately and enters damping mode, allowing the angle to be adjusted by external force. |
1.1 Packet Example
Set servo No. 1 to hold torque after stopping, with power set to 6000 mW.
0x12 0x4c 0x18 0x04 0x01 0x11 0x70 0x17 0x13
to be continued