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The topic of PID tuning is an advanced one and we recommend that only advanced users attempt it. The reason for this is to have the control table know which servo to address if there is any anomaly on that port to ensure continuous operation an example is excess current that could cause a PSU shutdown, where the main board will want eros whats new address the correct servo on that port to request an immediate shut down. Better distribute processing between the main board and the actuators which have a processor themselves. Backwards compatibility was a key concept while designing the EROS architecture. By default eros whats new ship the IDs matched with the physical port numbers on the main board:

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Accuracy on the position feedback sensor for each joint has been improved when operating in 12 bit resolution. Additionally energy loss through heat dissipation in the switching mechanism at the motor MOSFETs eros whats new also been reduced, contributing to a longer lifespan, improved thermal behavior and overall improved power efficiency. Support for external position sensors for Series Elastic control depending on model.

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Therefore when you change an ID for an actuator, you whats actually changing it in the actuator itself. In EROS we rearranged and separated things: Eros Readings In the previous architecture we had one single point of temperature reading on the main board using an NTC, and this same temperature was then reported as the temperature on all joints and the main board as well. If you retain the new IDs, this automatic mapping and association will be correct; however if you change them or if you swap the connector ports, it is important that, upon booting, you remap the physical port numbers to IDs new the main board control table positions 0x81 to 0x8A. Backwards compatibility was a key concept while designing the EROS architecture.

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