Robotis Dynamixel X Series, Руководство пользователя

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Bit Item Description
Bit
3
Motor Encoder Error Detect malfunction of the motor encoder
Bit
2
OverHeating Error(default)
Detect internal temperature exceeds the configured operating
temperature
Bit
1
- Unused, Always ‘0’
Bit
0
Input Voltage Error Detect input voltage exceeds the configured operating voltage
NOTE :
1. If Shutdown occurs, LED will flicker every second. ( Firmware v41 or above )
2. If Shutdown occurs,
reboot the device
.
H/W REBOOT : Turn off and turn on the power again
S/W REBOOT : Transmit REBOOT Instruction (For more details, refer to the
Reboot section of
e-Manual.)
2. 4. 23. Velocity PI Gain(76, 78)
These values indicate Gains of Velocity Control Mode.
Gains of DYNAMIXEL’s internal controller can be calculated from Gains of the Control Table as
shown below.
The constant in each equations include sampling time.
Velocity P Gain of DYNAMIXEL’s internal controller is abbreviated to K
V
P and that of the
Control Table is abbreviated to K
V
P
(TBL)
.
Controller Gain Conversion Equations Range Description
Velocity I Gain(76)
K
V
I K
V
I = K
V
I
(TBL)
/ 65,536 0 ~ 16,383
I Gain
Velocity P Gain(78)
K
V
P K
V
P = K
V
P
(TBL)
/ 128
0 ~ 16,383 P Gain
Below figure is a block diagram describing the velocity controller in Velocity Control Mode.
When the instruction transmitted from the user is received by DYNAMIXEL, it takes following
steps until driving the horn.
1. An Instruction from the user is transmitted via DYNAMIXEL bus, then registered to Goal
Velocity(104) .
2. Goal Velocity(104) is converted to desired velocity trajectory by Profile Acceleration(108) .
3. The desired velocity trajectory is stored at Velocity Trajectory(136) .
4. PI controller calculates PWM output for the motor based on the desired velocity trajectory.
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) .