Robotis Dynamixel X Series, Manual

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NOTE : Velocity Control Mode only uses Profile Acceleration(108) . Step and Trapezoidal Profiles are
supported. Velocity Override are supported as well. Acceleration time(t1) can be calculated as below
equation.
Velocity-based Profile : t
1
= 64 * { Goal Velocity(104) / Profile Acceleration(108) }
Time-based Profile : t
1
= Profile Acceleration(108)
NOTE : If Time-based Profile is selected, Profile Velocity(112) is used to set the time span of the
Profile(t
3
), while Profile Acceleration(108) sets accelerating time(t
1
) in millisecond[ms]. Profile
Acceleration(108) will not exceed 50% of Profile Velocity(112) value.
2. 4. 30. Goal Position(116)
Desired position can be set with Goal Position(116). From the front view of DYNAMIXEL, CCW
is an increasing direction whereas CW is a decreasing direction. The way to reaching Goal
Position(116) is differ by 4 Profiles provided by DYNAMIXEL. Please refer to the Profile
Velocity(112) for more details.