Robotis XH430-W350-R, Руководство пользователя

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2/22/2018 XH430-W350
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1 Movement is detected, or Profile is in progress(Goal Position(116) instruction is being processed)
Moving Status (123)
This value provides additional information about the movement. Following Error Bit(0x08) and In-Position Bit(0x01) only work with Position Control Mode, Extended Position Control Mode, Current-based
Position Control Mode.
Moving Status Details Description
Bit 7 0x80 - Unused
Bit 6 0x40 - Unused
Bit 5
~
Bit 4
0x30
Profile Type(0x30) Trapezoidal Velocity Profile
Profile Type(0x20) Triangular Velocity Profile
Profile Type(0x10) Rectangular Velocity Profile
Profile Type(0x00) No Profile Used (Step)
Bit 3 0x08 Following Error Dynamixel fails to reach target position trajectory
Bit 2 0x04 - Unused
Bit 1 0x02 Profile Ongoing Profile is in progress with Goal Position(116) instruction
Bit 0 0x01 In-Position Dynamixel is reached to target position
Present PWM (124)
This value indicates present PWM. For more details, please refer to the Goal PWM(100).
Present Current (126)
This value indicates present Current. For more details, please refer to the Goal Current(102).
Present Velocity (128)
This value indicates present Velocity. For more details, please refer to the Goal Velocity(104).
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(-2,147,483,648 ~ 2,147,483,647) when Torque is turned off regardless of Operating Mode(11).
However, Present Position(132) is reset in those cases:
Case 1) Present Position(132) is reset with the value within 1[rev] (0 ~ 4,095) when Operating Mode(11) is changed to Position Control Mode.
Case 2) Present Position(132) is reset with the value within 1[rev] (0 ~ 4,095) when Torque is turned on in Position Control Mode.
Homing Offset(20) can affect to the Present Position(132) value.
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, Current-based Position Control Mode : Velocity Trajectory is used to create Position Trajectory(140). When Profile reaches to endpoint, Velocity
Trajectory(136) is cleared to '0'.
Position Trajectory (140)
This is a target position trajectory created by Profile. This value is only used in Position Control Mode, Extended Position Control Mode, Current-based Position Control Mode. For more details, please refer
to the Profile Velocity(112).
Present Input Voltage (144)
This value indicates current voltage that is being supplied. For more details, please refer to the Max/Min Voltage Limit(32, 34).
Present Temperature (144)
This value indicates internal temperature of Dynamixel. For more details, please refer to the Temperature Limit(31).
Indirect Address 1 ~ 28 (168, 170 ~ 220, 222), Indirect Address 29 ~ 56 (578, 580 ~ 630, 632)
Indirect Data 1 ~ 28 (224, 225 ~ 250, 251), Indirect Data 29 ~ 56 (634, 635 ~ 660, 661)
Indirect Address and Indirect Data are useful when accessing two remote addresses in the Control Table as sequential addresses. Sequential addresses increase Instruction Packet efficiency. Addresses
that can be defined as Indirect Address is limited to RAM area(Address 64 ~ 661).
If specific address is allocated to Indirect Address, Indirect Address inherits features and properties of the Data from the specific Address. Property includes Size(Byte length), value range, and Access
property(Read Only, Read/Write). For instance, allocating 65(Address of LED) to Indirect Address 1(168), Indirect Data 1(224) can perform exactly same as LED(65).
①
Example 1) Allocating Size 1[byte] LED(65) to Indirect Data 1(224)
A. Indirect Address 1(168) : change the value to '65' which is the address of LED
B. Set Indirect Data 1(224) to ‘1’ LED(65) also becomes '1' and LED is turned on.
C. Set Indirect Data 1(224) to ‘0’ LED(65) also becomes ‘0’ and LED is turned off.
②
Example 2) Allocating Size 4[byte] Goal Position(116) to Indirect Data 2(225), all 4[byte] has to be allocated.
A. Indirect Address 2(170) : change the value to '116' which is the first address of Goal Position.
B. Indirect Address 3(172) : change the value to '117' which is the first address of Goal Position.
C. Indirect Address 4(174) : change the value to '118' which is the first address of Goal Position.
D. Indirect Address 5(176) : change the value to '119' which is the first address of Goal Position.