Data Sheet

2/23/2018 XH-430-V350
http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh-430-v350.htm 10/15
Unit 0.229[RPM] All velocity related Data uses the same unit
Range -Velocity Limit(44) ~ Velocity Limit(44) -
Note1) : The maximum velocity and maximum torque of Dynamixel is affected by supplying voltage. Therefore, if supplying voltage changes, so does the maximum velocity. This manual complies with
recommended supply voltage.
Note2) : If Profile Acceleration(108) and Goal Velocity(104) are modified simultaneously, modified Profile Acceleration(108) will be used to process Goal Velocity(104).
Profile Acceleration (108)
The acceleration of Profile can be set with this value. Profile Acceleration(108) can be used in all control modes except Torque Control Mode. Profile Acceleration(108) cannot exceed Acceleration Limit(40).
For more details, please refer to the Profile Velocity(112).
Values Description
Unit 214.577[Rev/min2] All acceleration related Data uses the same unit,
Range 0 ~ Acceleration Limit(40) The value '0' on Profile Acceleration(108) means infinite acceration.
Profile Velocity (112)
The Maximum velocity of Profile can be set with this value. Profile Velocity(112) can be used in all control modes except Torque Control Mode and Velocity Control Mode. Profile Velocity(112) cannot exceed
Velocity Limit(44). Velocity Control Mode only uses Profile Acceleration(108) instead of Profile Velocity(112).
Values Description
Unit 0.229[RPM] All velocity related Data uses the same unit
Range 0 ~ Velocity Limit(44) If Profile Velocity(112) is set to ‘0’, it stands for infinite velocity.
The Profile is an acceleration/deceleration control method to reduce vibration, noise and load of the motor by controlling dramatically changing velocity and acceleration. It is also called Velocity Profile as it
controls acceleration and deceleration based on velocity. Dynamixel provides 4 different types of Profile. The following explains 4 Profiles and how to select them. Profiles are usually selected by a
combination of Profile Velocity(112) and Profile Acceleration(108). Triangular and Trapezoidal Profiles exceptionally consider total travel distance(ΔPos, the distance difference between target position and
current position) as an additional factor. For convenience, Profile Velocity(112) is abbreviated to V
PRFL
and Profile Acceleration(108) is abbreviated to V
PRFL
. 'X' stands for "Don't Care" case.
When given Goal Position(116), Dynamixel's profile creates target velocity trajectory based on current velocity(initial velocity of the Profile). When Dynamixel receives updated target position from a new Goal
Position(116) while it is moving toward the previous Goal Position(116), velocity smoothly varies for the new target velocity trajectory. Maintaining velocity continuity while updating target velocity trajectory is
called Velocity Override. For a simple calculation, let's assume that the initial velocity of the Profile is '0'. The following explains how Profile processes Goal Position(116) instruction in Position Control mode,
Extended Position Control Mode, Current-based Position Control Mode.
① An Instruction from the user is transmitted via Dynamixel bus, then registered to Goal Position(116).
② Acceleration time(t1) is calculated from Profile Velocity(112) and Profile Acceleration(108).
③ Types of Profile is decided based on Profile Velocity(112), Profile Acceleration(108) and total travel distance(ΔPos, the distance difference between target position and current position)
Condition Types of Profile
V
PRFL(112)
= 0
Profile not used (Step Instruction)
(V
PRFL(112)
≠ 0) & (A
PRF(108)
= 0)
Rectangular Profile
(V
PRFL(112)
≠ 0) & (A
PRF(108)
≠ 0) & (V
PRFL_TRI
≤ V
PRFL(112)
)
Triangular Profile
(V
PRFL(112)
≠ 0) & (A
PRF(108)
≠ 0) & (V
PRFL_TRI
＞ V
PRFL(112)
)
Trapezoidal Profile
④ Selected Profile type is stored at Moving Status(123).(Refer to the Moving Status(123))
⑤ Dynamixel is driven by the calculated target trajectory from Profile.
⑥ Target velocity trajectory and target position trajectory from Profile are stored at Velocity Trajectory(136) and Position Trajectory(140) respectively.
⑦ V
PRFL_TRI
of ③ and Travel time(t3) to reach Goal Position(116) is calculated as below.