Robotis Dynamixel X Series, Руководство пользователя

Страница: 25 / 34

2. 4. 35. Present Load(126)
It means currently applied load. For example, the value is 512, it means the load is detected in
the direction of CCW about 50% of the maximum torque.
Unit Value Range Description
0.1% -1,000 ~ 1,000 Positive(CCW Load), Negative(CW Load)
NOTE : Present load is an inferred value based on the internal output value; not a measured value
using torque sensor, etc. Therefore, it may be inaccurate for measuring weight or torque. It is
recommended to use it for predicting the direction and size of the force being applied to the joint.
2. 4. 36. Present Velocity(128)
This value indicates present Velocity. For more details, please refer to the Goal Velocity(104) .
2. 4. 37. Present Position(132)
This value indicates present Position. For more details, please refer to the Goal Position(116) .
NOTE : Present Position(132) represents 4 byte continuous range from -2,147,483,648 to
2,147,483,647 when Torque is turned off regardless of Operating Mode(11) .
However, Present Position(132) will be reset to an absolute position value of one full rotation in those
cases:
1. When Operating Mode(11) is changed to Position Control Mode, Present Position(132) will be
reset to an absolute position value of a full rotation.
2. When torque is turned on in Position Control Mode, Present Position(132) will be reset to an
absolute position value of one full rotation.
3. When turning off the power supply on Extended Position Control Mode, Present Position(132) will
be reset to an absolute position value of one full rotation.
Present Position(132) value can be affected by Homing Offset(20) .
2. 4. 38. Velocity Trajectory(136)
This is a target velocity trajectory created by Profile. Operating method can be changed based
on control mode. For more details, please refer to the
Profile Velocity(112) .
1. Velocity Control Mode : When Profile reaches to the endpoint, Velocity Trajectory(136)
becomes equal to Goal Velocity(104) .
2. Position Control Mode, Extended Position Control Mode : Velocity Trajectory is used to
create Position Trajectory(140) . When Profile reaches to an endpoint, Velocity
Trajectory(136) is cleared to ‘0’.
2. 4. 39. Position Trajectory(140)
This is a desired position trajectory created by Profile.
This value is only used in Position Control Mode, Extended Position Control Mode.
For more details, please refer to the
Profile Velocity(112) .
2. 4. 40. Present Input Voltage(144)