2/22/2018
XH430-W350
http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm
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Unit
0.229[RPM]
All velocity related Data uses the same unit
Range
0 ~ 1,023
-
Max Position Limit (48), Min Position Limit (52)
These values limit maximum and minimum target positions for Position Control Mode(Joint Mode) within the range of 1 rotation(0~4095). Therefore, Goal Position(116) should be
configured within the position limit range. These values are not used in Extended Position Control Mode and Current-based Position Control Mode.
Values
Description
Unit
0.088[deg]
All position related Data uses the same unit
Range
0 ~ 4095
The range is limited by 1 rotation
Note : Max Position Limit(48) and Min Position Limit(52) are only used in Position Control Mode with a single turn.
Shutdown (63)
The Dynamixel can protect itself by detecting dangerous situations that could occur during the operation. Each Bit is inclusively processed with the ‘OR’ logic, therefore, multiple options
can be generated. For instance, when ‘0x05’ (binary : 00000101) is defined as Shutdown(63), Dynamixel can detect both Input Voltage Error(binary : 00000001) and Overheating
Error(binary : 00000100). If those errors are detected, Torque Enable(64) is cleared to ‘0’ and the motor output becomes 0[%]. REBOOT is the only method to reset Torque Enable(64) to
‘1’(Torque ON) after the shutdown. The followings are detectable situations.
Shutdown
Definition
Description
bit 7
0x80
-
Unused, always ‘0’
bit 6
0x40
-
Unused, always ‘0’
bit 5
0x20 Overload Error(Default)
Detect persistent load that exceeds maximum output
bit 4
0x10 Electrical Shock Error(Default)
Detect electrical shock on the circuit, or input power is insufficient to operate the motor
bit 3
0x08 Motor Encoder Error
Detect malfunction of the motor encoder
bit 2
0x04 Overheating Error(Default)
Detect internal temperature exceeds the configured operating temperature
bit 1
0x02
-
Unused, always ‘0’
bit 0
0x01 Input Voltage Error
Detect input voltage exceeds the configured operating voltage
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
RAM Area
Torque Enable (64)
Controls Torque ON/OFF. Writing ‘1’ to this address will turn on the Torque and all Data in the EEPROM area will be protected.
Values
Description
0(Default)
Torque OFF(Free-run) and the motor does not generate torque.
1
Torque ON and all Data in the EEPROM area will be locked.
Note : Present Position(132) can be reset when Operating Mode(11) and Torque Enable(64) are updated. For more details, please refer to the Homing Offset(20) and Present Position(132).
LED (65)
Turn on or turn off the LED. Dynamixel LED can only be controlled by LED(65).
Values Description
Values
Description
0(Default)
Turn off the LED.
1
Turn on the LED.
Status Return Level (68)
This value decides how to return Status Packet when Dynamixel receives an Instruction Packet.
Values
When to return
Status Packet
Description
0
PING Instruction
Status Packet will not be returned for all Instructions. (Exception : PING Instruction)
1
PING Instruction
READ Instruction
Status Packet will only be returned for READ Instruction.
exceptionally returns Status Packet to all Instruction.
2
All Instructions
Status Packet will be returned for all Instructions.
Note : If the ID of Instruction Packet is set to Broad Cast ID(0xFE), Status Packet will not be returned for READ and WRITE Instructions regardless of Status Return Level(68). For more details, please
refer to the
Registered Instruction (69)
This value will be set to ‘1’ when Dynamixel receives REG_WRITE Instruction Packet and processing ACTION Instruction Packet will clear the value to ‘0’.
