Robotis Dynamixel X Series, Руководство пользователя

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4. Feedforward and PID controller calculate PWM output for the motor based on desired
trajectories.
5. Goal PWM(100) sets a limit on the calculated PWM output and decides the final PWM
value.
6. The final PWM value is applied to the motor through an Inverter, and the horn of
DYNAMIXEL is driven.
7. Results are stored at Present Position(132) , Present Velocity(128) , Present PWM(124) and
Present Load(126) .
NOTE : In case of PWM Control Mode, both PID controller and Feedforward controller are deactivated
while Goal PWM(100) value is directly controlling the motor through an Inverter. In this manner, users
can directly control the supplying voltage to the motor.
NOTE : K
a
is an Anti-windup Gain that cannot be modified by users.
For more details about the PID controller and Feedforward controller, please refer to the PID
Controller and Feed Forward .
2. 4. 25. Bus Watchdog(98)
Bus Watchdog (98) is available from firmware v38. It 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 defined as all the
Instruction Packet in the DYNAMIXEL Protocol.
Values Description
Unit 20[ms] -
Range 0 Deactivate Bus Watchdog Function, Clear Bus Watchdog Error
Range 1 ~ 127 Activate Bus Watchdog
Range -1 Bus Watchdog Error Status
The Bus Watchdog function monitors the communication interval (time) between the controller
and DYNAMIXEL when
Torque Enable(64) is ‘1’. If the measured communication interval (time)
is larger than Bus Watchdog(98) , the DYNAMIXEL will stop. Bus Watchdog(98) will be changed
to ‘-1’ (Bus Watchdog Error). If the Bus Watchdog Error screen appears, the Goal Value ( Goal