Robotis Dynamixel X Series, Руководство пользователя

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Values Description
Unit about 0.229 rpm All velocity related Data uses the same unit
Range 0 ~ 1,023 -
2. 4. 12. Temperature Limit(31)
This value limits operating temperature.
When the Present Temperature(146) that indicates internal temperature of DYNAMIXEL is
greater than the Temperature Limit(31), the Over Heating Error Bit(0x04) and Hardware Error
Bit(0x80) in the Hardware Error Status(70) will be set.
If Overheating Error Bit(0x04) is configured in the
Shutdown(63) , Torque Enable(64) is cleared
to ‘0’ and Torque will be disabled.
For more details, please refer to the
Shutdown(63) section.
Unit Value Range Description
About 1° 0 ~ 100 0 ~ 100°
CAUTION : Do not set the temperature higher than the default value. When the temperature alarm
shutdown occurs, wait 20 minutes to cool the temperature before re-use. Keep using the product when
the temperature is high can cause severe damage.
2. 4. 13. Min/Max Voltage Limit(32, 34)
These values are maximum and minimum operating voltages. When current input voltage
acquired from Present Input Voltage(144) exceeds the range of Max Voltage Limit(32) and Min
Voltage Limit(34), Voltage Range Error Bit(0x01) and Hardware Error Bit(0x80) in the Hardware
Error Status(70) are set. If Input Voltage Error Bit(0x10) is configured in the Shutdown(63),
Torque Enable(64) is cleared to ‘0’ and Torque is disabled. For more details, please refer to the
Shutdown(63) section.
Unit Value Range Description
About 0.1V 60 ~ 140 6.0 ~ 14.0V
2. 4. 14. 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 operating mode as
an output limit, therefore decreasing PWM output will result in decreasing torque and velocity.
For more details, please refer to the Gain section of each operating modes.
Values Description
0(0 [%]) ~ 885(100 [%]) 885 = 100 [%] output
2. 4. 15. Velocity Limit(44)
This indicates the maximum value of Goal Velocity(104). For more details, please refer to Goal
Velocity(104) .