2/22/2018
ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/
18/34
Note
If Shutdown occurs, use below method to reboot
Dynamixels.
1. H/W REBOOT : Turn off the power and turn on again
2. S/W REBOOT : Transmit REBOOT Instruction (For more
details, please refer to the [Reboot] section of Protocol e-
Manual.)
If Shutdown occurs, LED will flicker every second.(Firmware v41 or
above)
2. 4. 25. 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 target velocity trajectory
by Profile Acceleration(108).
3. The target velocity trajectory is stored at Velocity
Trajectory(136).
4. PI controller calculates PWM output for the motor based
on the target 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 Current(126).
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