Data Sheet

2/23/2018 XH-430-V350
http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh-430-v350.htm 12/15
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 current 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).
Indirect Address 1 ~ 28 (168, 170 ~ 220, 222), Indirect Address 29 ~ 56 (578, 580 ~ 630, 632)
Indirect Data 1 ~ 28 (224, 225 ~ 250, 251), Indirect Data 29 ~ 56 (634, 635 ~ 660, 661)
Indirect Address and Indirect Data are useful when accessing two remote addresses in the Control Table as sequential addresses. Sequential addresses increase Instruction Packet efficiency. Addresses
that can be defined as Indirect Address is limited to RAM area(Address 64 ~ 661).
If specific address is allocated to Indirect Address, Indirect Address inherits features and properties of the Data from the specific Address. Property includes Size(Byte length), value range, and Access
property(Read Only, Read/Write). For instance, allocating 65(Address of LED) to Indirect Address 1(168), Indirect Data 1(224) can perform exactly same as LED(65).
① Example 1) Allocating Size 1[byte] LED(65) to Indirect Data 1(224)
A. Indirect Address 1(168) : change the value to '65' which is the address of LED
B. Set Indirect Data 1(224) to ‘1’  LED(65) also becomes '1' and LED is turned on.
C. Set Indirect Data 1(224) to ‘0’  LED(65) also becomes ‘0’ and LED is turned off.
② Example 2) Allocating Size 4[byte] Goal Position(116) to Indirect Data 2(225), all 4[byte] has to be allocated.
A. Indirect Address 2(170) : change the value to '116' which is the first address of Goal Position.
B. Indirect Address 3(172) : change the value to '117' which is the first address of Goal Position.
C. Indirect Address 4(174) : change the value to '118' which is the first address of Goal Position.
D. Indirect Address 5(176) : change the value to '119' which is the first address of Goal Position.
E. Set 4[byte] value '1024' to Indirect Data 2  Goal Position(116) also becomes '1024 and Dynamixel moves.
Indirect Address Values Description
Range 64~661 Indirection Address can't be allocated with EEPROM area
Note 1) : In order to allocate Data in the Control Table longer than 2[byte] to Indirect Address, all address must be allocated to Indirect Address like the above Example 2.
Note 2) : Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can only be accessed with Protocol 2.0.
Wiring Instructions through hollow back case