2/22/2018
ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/
22/34
packet. If the value of Bus Watchdog (98) is changed to ‘0’,
Bus Watchdog Error will be cleared.
Note
For details of Range Error, please refer to the protocol of
the e-Manual.
The following are examples of the operation of the Bus
Watchdog function.
1. After setting the operating mode (11) to speed control
mode, change the Torque Enable (64) to ‘1’.
2. If ‘50’ is written in the Goal Velocity (104), the DYNAMIXEL
will rotate in CCW direction.
3. Change the value of Bus Watchdog (98) to ‘100’ (2,000
[ms]). (Activate Bus Watchdog Function)
4. If no instruction packet is received for 2,000 [ms], the
DYNAMIXEL will stop. When it stops, the Profile
Acceleration (108) and Profile Velocity (112) are applied as
‘0’.
5. The value of Bus Watchdog (98) changes to ‘-1’ (Bus
Watchdog Error). At this time, the access to the Goal Value
will be changed to read-only.
6. If ‘150’ is written to the Goal Velocity (104), Range Error will
be returned via Status Packet.
7. If the value of Bus Watchdog (98) is changed to ‘0’, Bus
Watchdog Error will be cleared.
8. If “150” is written in the Goal Velocity (104), the
DYNAMIXEL will rotate in CCW direction.
2. 4. 28. Goal PWM(100)
In case of PWM Control Mode, both PID controller and
Feedforward controller are deactivated while Goal PWM(100)
value is directly controlling the motor through an Inverter. In
other control modes, this value is used to limit PWM value.
This value cannot exceed PWM Limit(36). Please refer to the
Gain section in order to see how Goal PWM(100) affects to
different control modes.
Range
Description
-PWM Limit(36) ~ PWM Limit(36) Initial Value of PWM Limit(36) : ‘885’
2. 4. 29. Goal Current(102)
In case of Torque Control Mode, Goal Current(102) can be
used to set a target current. This value sets a limit to current in
Current-based Position Control mode. This value cannot
exceed Current Limit(38).
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