Robotis XH430-W350-R Manual Download Page 14 | Manualshive

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2/22/2018

XH430-W350

http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm

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Caution for Dynamixel X-Series cable assembly through hollow case

Organize the entangled cable before assembling the back case.

Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error.

Combination

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Summary of Contents for XH430-W350-R

Page 1: ... Position Control Mode PWM Control Mode Voltage Control Mode Weight 82g Dimensions W x H x D 28 5mm x 46 5mm x 34mm Gear Ratio 353 5 1 Stall Torque 3 1N m at 11 1V 1 2A 3 4N m at 12 0V 1 3A 4 2N m at 14 8V 1 5A No load speed 27rpm at 11 1V 30rpm at 12 0V 37rpm at 14 8V Operating Temperature 5 80 Input Voltage 10 14 8V Recommended 12V Command Signal Digital Packet Protocol Type XH430 W350 T Half du...

Page 2: ...col section of e Manual for more details about Packets Note Two s complement rule is followed to find the negative value For more information please refer to the following link Two s complement link Area EEPROM RAM The Control Table is divided into 2 Areas Data in the RAM Area is reset to initial values when the Dynamixel is turned on Volatile On the other hand modified data in the EEPROM Area kee...

Page 3: ...dforward 1st Gain 1st Gain of Feed Forward RW 0 98 1 Bus Watchdog Dynamixel Bus Watchdog RW 0 100 2 Goal PWM Target PWM Value RW 102 2 Goal Current Target Current Value RW 104 4 Goal Velocity Target Velocity Value RW 108 4 Profile Acceleration Acceleration Value of Profile RW 0 112 4 Profile Velocity Velocity Value of Profile RW 0 116 4 Goal Position Target Position Value RW 120 2 Realtime Tick Co...

Page 4: ...s a unique value in the network to identify each Dynamixel with an Instruction Packet 0 252 0xFC values can be used as an ID and 254 0xFE is occupied as a broadcast ID The Broadcast ID 254 0xFE can send an Instruction Packet to all connected Dynamixels simultaneously Note Please avoid using an identical ID for multiple Dynamixels In order to change the ID in the EEPROM Area Torque Enable 64 has to...

Page 5: ...WM is the abbreviation for Pulse Width Modulation that modulates PWM Duty to control motors The PWM Control Mode changes pulse width to control average supply voltage to the motor and this technique is widely used in the motor control field Therefore PWM Control Mode uses Goal PWM 100 value to control supply voltage for Dynamixel PWM Control Mode is similar to the Wheel Mode of Dynamixel AX and RX...

Page 6: ... the Shutdown 63 Torque Enable 64 is cleared to 0 and Torque is disabled For more details please refer to the Shutdown 63 section Values Description Unit about 0 1 V All voltage related Data uses the same unit Range 95 160 9 5 16 0 V PWM Limit 36 This value indicates maximum PWM output Goal PWM 100 can t be configured with any values exceeding PWM Limit 36 PWM Limit 36 is commonly used in all oper...

Page 7: ...4 Overheating Error Default Detect internal temperature exceeds the configured operating temperature bit 1 0x02 Unused always 0 bit 0 0x01 Input Voltage Error Detect input voltage exceeds the configured operating voltage Note If Shutdown occurs use below method to REBOOT Dynamixels H W REBOOT Turn off the power and turn on again S W REBOOT Transmit REBOOT Instruction For more details please refer ...

Page 8: ...about the PID controller please refer to the below website http en wikipedia org wiki PID_controller Position D Gain 80 Position I Gain 82 Position P Gain 84 Feedforward 2nd Gain 88 Feedforward 1st Gain 90 These Gains are used in Position Control Mode and Extended Position Control Mode Gains of Dynamixel s internal controller can be calculated from Gains of the Control Table as shown below The con...

Page 9: ...roller please refer to the below websites http en wikipedia org wiki PID_controller https en wikipedia org wiki Feed_forward_ control Bus Watchdog 98 Available after Firmware version 38 Bus Watchdog 98 is a safety device Fail safe that stops the Dynamixel if the communication between the controller and Dynamixel communication RS485 TTL is disconnected due to an unspecified error Communication is d...

Page 10: ...t 40 For more details please refer to the Profile Velocity 112 Values Description Unit 214 577 Rev min2 All acceleration related Data uses the same unit Range 0 Acceleration Limit 40 The value 0 on Profile Acceleration 108 means infinite acceration Profile Velocity 112 The Maximum velocity of Profile can be set with this value Profile Velocity 112 can be used in all control modes except Torque Con...

Page 11: ... with Goal Position 116 From the front view of Dynamixels 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 Dynamixels Please refer to the Profile Velocity 112 for more details Values Description Unit 0 088 deg 1 rev 0 4 095 Range Position Control Mode Min Position Limit 52 Max Position Limit 48 Initial Val...

Page 12: ...Velocity Trajectory 136 becomes equal to Goal Velocity 104 Position Control Mode Extended Position Control Mode Current based Position Control Mode Velocity Trajectory is used to create Position Trajectory 140 When Profile reaches to endpoint Velocity Trajectory 136 is cleared to 0 Position Trajectory 140 This is a target position trajectory created by Profile This value is only used in Position C...

Page 13: ...s Indirect Address Values Description Range 64 661 Indirection Address can t be allocated with EEPROM area Note 1 In order to allocate Data in the Control Table longer than 2 byte to Indirect Address all address must be allocated to Indirect Address like the above Example 2 Note 2 Indirect Address 29 56 and Indirect Data 29 56 can only be accessed with Protocol 2 0 Wiring Instructions through holl...

Page 14: ...430 w350_main htm 14 15 Caution for Dynamixel X Series cable assembly through hollow case Organize the entangled cable before assembling the back case Do not assemble the back case with entangled cable The entangled cable can be squashed by the case and cause communication error Combination ...

Page 15: ... support robotis com en product actuator dynamixel_x xh_series xh430 w350_main htm 15 15 Dimension Drawing Information X 430_std_ref pdf Frame Compatibility Guide LINK Error Report Copyrights c 2010 ROBOTIS All rights reserved ...

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