Robotis Dynamixel X Series, Manual

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Mode Values Description
Position Control Mode Min Position Limit(52) ~ Max Position Limit(48) Initial Value : 0 ~ 4,095
Extended Position Control Mode -1,048,575 ~ 1,048,575 -256[rev] ~ 256[rev]
Degree Conversion Constant Description
0.088°/Value 1[rev] : 0 ~ 4,095
NOTE : Profile Velocity(112) and Profile Acceleration(108) are applied in below cases:
In Position Control Mode, Profile Velocity(112) and Profile Acceleration(108) are used to create a new
profile when Goal Position(116) is updated.
In Velocity Control Mode,
Profile Acceleration(108) is used to create a new profile when Goal
Velocity(104) is updated.
NOTE : When turning off the power supply or changing Operation Mode on Extended Position Control
Mode, the value of Present Position is reset to the absolute position value of single turn .
NOTE : Present Position(132) represents 4 byte continuous range from -2,147,483,648 to
2,147,483,647 when Torque is turned off regardless of Operating Mode(11) .
However, Present Position(132) will be reset to an absolute position value of one full rotation in those
cases:
1. When Operating Mode(11) is changed to Position Control Mode, Present Position(132) will be
reset to an absolute position value of a full rotation.
2. When torque is turned on in Position Control Mode, Present Position(132) will be reset to an
absolute position value of one full rotation.
3. When turning off the power supply on Extended Position Control Mode, Present Position(132) will
be reset to an absolute position value of one full rotation.
Present Position(132) value can be affected by Homing Offset(20) .
2. 4. 31. Realtime Tick(120)
This value indicates DYNAMIXEL’s time.
Unit Value Range Description
1 ms 0 ~ 32,767 The value resets to ‘0’ when it exceeds 32,767