2/22/2018
XM540-W150
http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm540-w150.htm
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This value indicates whether Dynamixel is in motion or not. If absolute value of Present Velocity(128) is greater than Moving Threshold(24), Moving(122) is set to '1'. Otherwise, it will be cleared to '0'.
However, this value will always be set to '1' regardless of Present Velocity(128) while Profile is in progress with Goal Position(116) instruction.
Moving
Description
0
Movement is not detected
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 present voltage that is being supplied. For more details, please refer to the Max/Min Voltage Limit(32, 34).
Present Temperature (146)
This value indicates internal temperature of Dynamixel. For more details, please refer to the Temperature Limit(31).
External Port Data 1, 2, 3 (152, 153 ~ 156, 157)
Through External Port Data, signal on the External Port can be read or data can be written on the External Port.
The External Port is not electrically insulated, therefore abide by the electrical specifications.
For more accurate measurement, use shielded cable or twisted cable.
The shorter the length, the better the result.
