Robotis Dynamixel X Series, Руководство пользователя

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Unit Value Range Unit Value Range
0.229rpm 0 ~ 1,023
NOTE : The default value of Velocity Limit(44) has been decreased since Firmware V42.
2. 4. 16. Min/Max Position Limit(48, 52)
These values limit maximum and minimum target positions for Position Control Mode(Joint
Mode) within the range of 1 rotation(0 ~ 4,095). Therefore, Goal Position(116) should be
configured within the position limit range. These values are not used in Extended Position
Control Mode.
Unit Value Range
0.088° 0 ~ 4,095(1 rotation)
NOTE : Max Position Limit(48) and Min Position Limit(52) are only used in Position Control
Mode with a single turn.
2. 4. 17. Shutdown(63)
The DYNAMIXEL can protect itself by detecting dangerous situations that could occur during
the operation.
Each Bit is inclusively processed with the ‘OR’ logic, therefore, multiple options can be
generated.
For instance, when ‘0x05’ (binary : 00000101) is defined in
Shutdown(63) , DYNAMIXEL can
detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary : 00000100).
If those errors are detected,
Torque Enable(64) is cleared to ‘0’ and the motor output becomes
0 [%].
REBOOT is the only method to reset
Torque Enable(64) to ‘1’(Torque ON) after the shutdown.
Check Hardware Error Bit(0x80) in a error field of Status Packet or a present status via
Hardware Error Status(70) The followings are detectable situations.
Bit Item Description
Bit
7
- Unused, Always ‘0’
Bit
6
- Unused, Always ‘0’
Bit
5
Overload Error(default) Detect persistent load that exceeds maximum output
Bit
4
Electrical Shock
Error(default)
Detect electric shock on the circuit or insufficient power to operate the
motor
Bit
3
Motor Encoder Error Detect malfunction of the motor encoder
Bit
2
OverHeating Error(default)
Detect internal temperature exceeds the configured operating
temperature