I wish to hold the position with a servo motor only up to a predetermined torque. For instance, I’d like keep the position of the servo at 0° if a counter moment less than 1 Nm is applied. If otherwise larger I’d like the servo to allow the rotation while holding this torque.
Servo: Dynamixel XH540-W270-T/R
Control: Dynamixel OpenCM 9.04 with 485 Expansion Board
I found in the Dynamixel_Serial.h library the function Dynamixel.setMaxTorque (L, H) which allow to set upper (H) and Lower (L) operation torque limits. Unfortunately this library doesn’t work with the OpenCM combination.
Question: I kindly ask you to help me to write a function to accomplish this simple task, or maybe there is another way to solve the problem that I have not found so far. I’m considering to use the DynamixelWorkbench.h library, therefore would be ideal to stay in this environment if possible.