2/22/2018
XH430-W350
http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm
2/15
The max torque measurement method for the Stall Torque and Performance Graph is different. Stall torque is measured from the max torque that it can reach. This is generally how RC servos
measure their torque. For the Performance graph with the N-T curves, it is measured with the load gradually increasing. The motor operation environment is closer to the performance graph,
not stall torque method. This is probably why the performance graph is being broadly used in the industrial market. This is why the max torque of the performance grap can actually be less than
the stall torque.
Precautions when connecting to power supply!
- For the stable power supply, we recommend using ROBOTIS controller or SMPS2Dynamixel.
- Connect your DYNAMIXEL to power supply while it’s off and turn on/off with the power switch.
Control Table
The Control Table is a structure of data implemented in the Dynamixel. Users can read a specific Data to get status of the Dynamixel with Read Instruction Packets, and modify Data as well to control
Dynamixels with WRITE Instruction Packets.
Control Table, Data, Address
The Control Table is a structure that consists of multiple Data fields to store status of the Dynamixel or to control the Dynamixel. Users can check current status of the Dynamixel by reading a specific
Data from the Control Table with Read Instruction Packets. WRITE Instruction Packets enable users to control the Dynamixel by changing specific Data in the Control Table. The Address is a unique
value when accessing a specific Data in the Control Table with Instruction Packets. In order to read or write data, users must designate a specific Address in the Instruction Packet. Please refer to the
for more details about Packets.
Note : Two's complement rule is followed to find the negative value.
For more information, please refer to the following link (
Area (EEPROM, RAM)
The Control Table is divided into 2 Areas. Data in the RAM Area is reset to initial values when the Dynamixel is turned on (Volatile). On the other hand, modified data in the EEPROM Area keeps their
values even when the Dynamixel is turned off (Non-Volatile). Data in the EEPROM Area can only be changed when the value of Torque Enable(64) is cleared to ‘0’.
Access
The Control Table has two different access properties. ‘RW’ property stands for read and write access permission while ‘R’ stands for read only access permission. Data with the read only property
cannot be changed by the WRITE Instruction. Read only property(‘R’) is generally used for measuring and monitoring purpose, and read write property(‘RW’) is used for controlling Dynamixels.
Initial Value
Each data in the Control Table is restored to initial values when the Dynamixel is turned on. Default values in the EEPROM area are initial values of the Dynamixel (factory default settings). If any
values in the EEPROM area are modified by a user, modified values will be restored as initial values when the Dynamixels is turned on. Initial Values in the RAM area are restored when the
Dynamixels is turned on.
Size
The Size of data varies from 1 to 4 bytes depend on their usage. Please check the size of data when updating the data with an Instruction Packet.
Area Address
Size
[byte]
Data Name
Description
Access initial Value
E
E
P
R
O
M
0
2
Model Number
R
1000
2
4
Model Information
R
-
6
1
Firmware Version
R
-
7
1
Dynamixel ID
RW
1
8
1
Communication Baud Rate
RW
1
9
1
Response Delay Time
RW
250
10
1
Drive Mode
RW
0
11
1
Operating Mode
RW
3
12
1
Secondary(Shadow) ID
RW
255
13
1
Protocol Version
RW
2
