0 to 1023 (0x3FF) is available. The unit is 0.29 degree.If Goal Position is out of the range, Angle Limit Error Bit (Bit1) of Status Packet is returned as ‘1’ and Alarm is triggered as set in Alarm LED/Shutdown.
<The picture above is based on the front of relevant model>If it is set to Wheel Mode, this value is not used.Moving SpeedIt is a moving speed to Goal Position.The range and the unit of the value may vary depending on the operation mode.Join Mode0~1023 (0X3FF) can be used, and the unit is about 0.111rpm.If it is set to 0, it means the maximum rpm of the motor is used without controlling the speed.If it is 1023, it is about 114rpm.For example, if it is set to 300, it is about 33.3 rpm.Notes: Please check the maximum rpm of relevant model in Joint Mode. Even if the motor is set to more thanmaximum rpm, it cannot generate the torque more than the maximum rpm.Wheel Mode0~2047( 0X7FF) can be used, the unit is about 0.1%.If a value in the range of 0~1023 is used, it is stopped by setting to 0 while rotating to CCW direction.If a value in the range of 1024~2047 is used, it is stopped by setting to 1024 while rotating to CW direction.That is, the 10th bit becomes the direction bit to control the direction.In Wheel Mode, only the output control is possible, not speed.For example, if it is set to 512, it means the output is controlled by 50% of the maximum output.Torque LimitIt is the value of the maximum torque limit. 0 to 1023 (0x3FF) is available, and the unit is about 0.1%. For example, if the value is 512, it is about 50%; that means only 50% of the maximum torque will be used.If the power is turned on, the value of Max Torque (Address 14, 15) is used as the initial value.Notes: If the function of Alarm Shutdown is triggered, the motor loses its torque because the value becomes 0. Atthis moment, if the value is changed to the value other than 0, the motor can be used again.
Present PositionIt is the current position value of Dynamixel. The range of the value is 0~1023 (0x3FF), and the unit is 0.29 degree.<The picture above is based on the front of relevant model>Caution: If it is set to Wheel Mode, the value cannot be used to measure the moving distance andthe rotation frequency.Present SpeedIt is the current moving speed.0~2047 (0X7FF) can be used.If a value is in the rage of 0~1023, it means that the motor rotates to the CCW direction.If a value is in the rage of 1024~2047, it means that the motor rotates to the CW direction.That is, the 10th bit becomes the direction bit to control the direction, and 0 and 1024 are equal.The unit of this value varies depending on operation mode.Joint ModeThe unit is about 0.111rpm.For example, if it is set to 300, it means that the motor is moving to the CCW direction at a rate of about 33.3rpm.Wheel ModeThe unit is about 0.1%.For example, if it is set to 512, it means that the torque is controlled by 50% of the maximum torque to the CCW direction.
- Fall '14