Data Sheet

2/23/2018 XH-430-V350
http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh-430-v350.htm 11/15
Note1) : Dynamixel supports Jerk control in order to minimize dramatic change of acceleration. Therefore, actual travel time by the target trajectory of Profile could be longer than t3(t4 of above figure).
Note2) : Velocity Control Mode only uses Profile Acceleration(108). Step and Trapezoidal Profiles are supported. Velocity Override and Jerk control are supported as well. Acceleration time(t1) can be
calculated as below equation.
Goal Position (116)
Target position can be set with Goal Position(116). From the front view of Dynamixels, CCW is an increasing direction whereas CW is a decreasing direction. The way to reaching Goal Position(116) is differ
by 4 Profiles provided by Dynamixels. Please refer to the Profile Velocity(112) for more details.
Values Description
Unit 0.088[deg] 1[rev] : 0 ~ 4,095
Range
Position Control Mode Min Position Limit(52) ~ Max Position Limit(48) Initial Value : 0 ~ 4,095
Extended Position Control Mode - 1,048,575 ~ 1,048,575 -256[rev] ~ 256[rev]
Current-based Position Control Mode - 1,048,575 ~ 1,048,575 -256[rev] ~ 256[rev]
Note : If Profile Acceleration(108), Profile Velocity(112) and Goal Position(116) are modified simultaneously, Goal Position(116) is processed based on updated Profile Acceleration(108) and Profile
Velocity(112).
Realtime Tick (120)
This value indicates Dynamixel's time.
Values Description
Unit 1[ms] -
Range 0 ~ 32,767 The value resets to '0' when it exceeds 32,767
Moving (122)
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).