Status Return LevelIt decides how to return Status Packet. There are three ways like the below table.ValueReturn of Status Packet0No return against all commands (Except PING Command)1Return only for the READ command2Return for all commandsWhen Instruction Packet is Broadcast ID, Status Packet is not returned regardless of Status Return Level.Alarm LEDAlarm ShutdownDynamixel can protect itself by detecting errors occur during the operation. The errors can be set are as the table below.itNameContentsbit7--bit6--bit5--bit4--bit3--bit2ERROR_INPUT_VALTAGEVoltage is out of operational voatage rangebit1ERROR_OVER_HEATINGTemperature is out of operational temperature rangebit0ERROR_OVERLOADMotor cannot output max load due to load being appliedcontinouosly
It is possible to make duplicate set since the function of each bit is run by the logic of ‘OR’. That is, if 0X05 (binary 00000101) is set, bothInput Voltage Error and Overheating Error can be detected.If errors occur, in case of Alarm LED, the LED blinks; in case of Alarm Shutdown, the motor output becomes 0 % by making the value ofTorque Limit(Address 34, 35) as 0.RAM AreaTorque EnableValueMeaning0Keeps Torque from generating by interrupting the power ofmotor.1Generates Torque by impressing the power to the motor.LEDBit명칭내용bit0+bit1+bit2WHITE LEDWhen the bit is set the white LED turns onbit0+bit2PINK LEDWhen the bit is set the pink LED turns onbit1+bit2BLUE-GREEN LEDWhen the bit is set the blue-green LED turns
onbit0+bit1YELLOW LEDWhen the bit is set the yellow LED turns onbit2BLUE LEDWhen the bit is set the blue LED turns onbit1GREEN LEDWhen the bit is set the green LED turns onbit0RED LEDWhen the bit is set the red LED turns onPID GainXL series will use the PID controller as a main control method.P gain refers to the value of proportional band.I gain refers to the value of integral action.
D Gain refers to the value of derivative action.Gains values are in between 0~254.※ The relationship between Compliance Slope and PIDSlopeP Gain81281664323264161288The less the P gain, The larger the back lash, and the weaker the amount of output near goal position.At some extent, it is like a combined concept of margine and slope.It does not exactly match the previous concept of compliance. So it is obvious if you see the difference in terms of motion.※ Explanation for PID required.For the brief explanation about general PID, please refer to the website(link) below.FYI, PID control theory is not only limited to the control of motor(actuator) but is a generic theory that can be applied to all kinds ofcontrol.Goal PositionIt is a position value of destination.
- Fall '14