Both voltage and speed commands are possible, and the type of command used may vary across the actuators. The command variables used are ECA_[JOINT]_VOLTAGE_CMD or ECA_[JOINT]_SPEED_CMD, where [JOINT] can be one of YAW, SHOULDER, ELBOW, WRIST, or GRIP. If a given joint does not receive a command for 0.5 seconds, it will automatically be commanded to stop.
Both voltage and speed commands have a range of 0 to 100, which is automatically mapped to the voltage or speed ranges. Maximum speed is set in the mission file and varies between joints within the range 9000 to 12000.
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