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View Full Version : Dynamixel MX-64T Torque control with Arbotix



Batduino
02-10-2019, 03:47 PM
I am trying to use torque control on the MX series motors. Here is my code:

#include <ax12.h>

const int servo = 2;
void setup() {
dxlInit(1000000);
mxSetTorqueControlMode(servo, 1);
delay(33);
Serial.begin(115200);
mxSetGoalTorque(servo, 500);
}

void loop() {

delay(33);
Serial.println(mxGetGoalTorque(servo));
}

The output is always 0. I have latest firmware on the dynamixel and I'm using the latest ax12.h library. Is there something I'm missing? I have tried to change the goal torque using roboplus and that works fine. It only doesn't work when using the arduino IDE with the arbotix.

KurtEck
02-14-2019, 12:41 PM
I have not use MX-64T servos... Again suggest Robotis forum, although they may not understand anything about Arbotix and library...

I would probably have to look more, but wonder if you the calls liset mxSetTorqueControlMode...

If this call actually turned the torque on for the servo... That is, the servo won't do anything if Torque is not enabled:
http://emanual.robotis.com/docs/en/dxl/mx/mx-64/#torque-enable

jwatte
02-14-2019, 12:51 PM
Have you enabled torque with register 24?