Join Mode, Multi-Turn mode It is a moving speed to Goal Position.
0~1023 (0X3FF) can be used, and the unit is about 0.114rpm.
If it is set to 0, it means the maximum rpm of the motor is used without controlling the
speed.
If it is 1023, it is about 116.62rpm.
For example, if it is set to 300, it is about 34.2 rpm.
However, the rpm will not exceed the No Load Speed.
Wheel Mode It is a moving speed to Goal direction.
0~2047 (0X7FF) can be used, and the unit is about 0.114rpm.
If a value in the range of 0~1023 is used, it is stopped by setting to 0 while rotating to CCW
direction.
If a value in the range of 1024~2047 is used, it is stopped by setting to 1024 while rotating
to CW direction.
That is, the 10th bit becomes the direction bit to control the direction.
NOTE
: Wheel mode allows to check max rpm. Any values higher than max rpm will not take
effect.
It is the value of the maximum torque limit. 0 ~ 1,023(0x3FF) is available, and the unit is about
0.1%. For example, if the value is 512, it is about 50%; that means only 50% of the maximum
torque will be used. If the power is turned on, the value of
value.
NOTE
: If the function of Alarm Shutdown is triggered, the motor loses its torque because the value
becomes 0. Once error conditions are resolved and this value is changed to the value other than 0,
the motor can be operated again.
2. 4. 20. Present Position (36)
It is the present position value of DYNAMIXEL. The range of the value is 0~4095 (0xFFF), and
the unit is 0.088 [°].
The picture above is the front view of DYNAMIXEL.
In multi-turn mode, the range is from -28,672 to 28,672 with unit values dependent on
Resolution Divider (0.088 * Resolution Divider)
