2/22/2018
XM540-W150
http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm540-w150.htm
12/17
VPRFL(112) = 0
Profile not used (Step Instruction)
(VPRFL(112) ≠ 0) & (APRF(108) = 0)
Rectangular Profile
(VPRFL(112) ≠ 0) & (APRF(108) ≠ 0) & (VPRFL_TRI ≤ VPRFL(112))
Triangular Profile
(VPRFL(112) ≠ 0) & (APRF(108) ≠ 0) & (VPRFL_TRI
＞
VPRFL(112))
Trapezoidal Profile
④
Selected Profile type is stored at Moving Status(123).(Refer to the Moving Status(123))
⑤
Dynamixel is driven by the calculated target trajectory from Profile.
⑥
Target velocity trajectory and target position trajectory from Profile are stored at Velocity Trajectory(136) and Position Trajectory(140) respectively.
⑦
VPRFL_TRI of
③
and Travel time(t3) to reach Goal Position(116) is calculated as below..
Note1) : Dynamixel supports Jerk control in order to minimize dramatic change of acceleration. Therefore, actual travel time by the target trajectory of Profile could be longer than t3(t4 of above figure).
Note2) : Velocity Control Mode only uses Profile Acceleration(108). Step and Trapezoidal Profiles are supported. Velocity Override and Jerk control are supported as well. Acceleration time(t1) can be
calculated as below equation.
Goal Position (116)
Target position can be set 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 Value : 0 ~ 4,095
Extended Position Control Mode
-1,048,575 ~ 1,048,575
-256[rev] ~ 256[rev]
Current-based Position Control Mode
Note : If Profile Acceleration(108), Profile Velocity(112) and Goal Position(116) are modified simultaneously, Goal Position(116) is processed based on updated Profile Acceleration(108) and Profile
Velocity(112).
Realtime Tick (120)
This value indicates Dynamixel's time.
Values
Description
Unit
1[ms]
-
Range
0 ~ 32,767
The value resets to '0' when it exceeds 32,767
Moving (122)
