My understanding from the reply from Myactuator above (Feb 11) , and from direct interactions between my team and the company, is that there is an old firmware that updated position setpoints immediately, but that in the new firmware this has changed and the motion must be complete before a new command is accepted. Commands sent during motion are completely ignored and not buffered. Our understanding is that Myactuator will release a new firmware in which the old behavior is restored, though it isn't clear how and to whom this will be rolled out.

I have not heard back either. In our case, we implemented position control using speed commands, but this is far from ideal, and may ultimately damage our equipment, in part due to other issues in to CAN interface. We would not have purchased the product if we had known of these limitations.

Thanks for letting me know, Max. I have requested more info from Myactuator. To be able to change target positions while the motor is moving, it's unclear whether I need to: - send commands differently - get a different firmware revision - change to different servo model If anyone has any insights, I'd be grateful to learn more.

I've recently started using an RMD-X6-S2 (1:36), and have found that in position mode it does not obey updated CAN position commands until the current action has completed. In the Myactuator GUI, the servo behaves in the same way, though I don't know what commands the GUI is sending to the motor. So to answer the question posed above by @Max , new position commands are ignored while the motor is still moving. I haven't noticed this in speed mode, but speed changes very quickly. Can anyone confirm or deny that in position mode (like CAN command 0xA3), new positions are ignored until any currently executing position command has completed? Is there a trick to changing the position target while the motor is moving? Thank you! James