This value indicates whether DYNAMIXEL is in motion or not.
If absolute value of
Present Velocity(128)
is greater than Moving Threshold(24), Moving(122) is
set to ‘1’.
Otherwise, it will be cleared to ‘0’.
However, this value will always be set to ‘1’ regardless of
Present Velocity(128)
while Profile is
in progress with Goal Position(116) instruction.
Value Description
0
Movement is not detected
1
Movement is detected, or Profile is in progress(Goal Position(116) instruction is being processed)
This one byte data provides additional information about the movement.
Following Error(0x08) and In-Position(0x01) are available under Position Control Mode,
Extended Position Control Mode.
Bit
Value
Information
Description
Bit 7
X
-
Reserved
Bit 6
X
-
Reserved
Bit [5:4]
11
10
01
00
Velocity Profile
11 :
00 : Profile not used(Step)
Bit 3
0 or 1 Following Error
DYNAMIXEL is following the desired position trajectory
0 : Following
1 : Not following
Bit 2
X
-
Reserved
Bit 1
0 or 1 Profile Ongoing
Profile is in progress with Goal Position(116) instruction
0 : Not in progress
1 : In progress
Bit 0
0 or 1
In-Position
DYNAMIXEL has arrived to the desired position
0 : Not arrived
1 : Arrived
NOTE
: Triangular velocity profile is configured when Rectangular velocity profile cannot reach to the
Profile Velocity(112).
NOTE
: In-Position bit will be set when the positional deviation is smaller than a predefined value
under Position related control modes.
This value indicates present PWM. For more details, please refer to the
