Data Sheet

2/23/2018 XH-430-V350
http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh-430-v350.htm 6/15
Temperature Limit (31)
This value limits operating temperature. When the Present Temperature(146) that indicates internal temperature of Dynamixel is greater than the Temperature Limit(31), the Over Heating
Error Bit(0x04) and Hardware Error Bit(0x80) in the Hardware Error Status(70) will be set. If Overheating Error Bit(0x04) is configured in the Shutdown(63), Torque Enable(64) is cleared
to ‘0’ and Torque is disabled. For more details, please refer to the Shutdown(63) section.
Values Description
Unit about 1[℃] All temperature related Data uses the same unit
Range 0 ~ 100 -
Max Voltage Limit (32), Min Voltage Limit (34)
These values are maximum and minimum operating voltages. When current input voltage acquired from Present Input Voltage(144) exceeds the range of Max Voltage Limit(32) and Min
Voltage Limit(34), Voltage Range Error Bit(0x01) and Hardware Error Bit(0x80) in the Hardware Error Status(70) are set. If Input Voltage Error Bit(0x10) is configured in the
Shutdown(63), Torque Enable(64) is cleared to ‘0’ and Torque is disabled. For more details, please refer to the Shutdown(63) section.
Values Description
Unit about 0.1[V] All voltage related Data uses the same unit
Range 110 ~ 300 11.0 ~ 30.0[V]
PWM Limit (36)
This value indicates maximum PWM output. Goal PWM(100) can’t be configured with any values exceeding PWM Limit(36). PWM Limit(36) is commonly used in all operating mode as
an output limit, therefore decreasing PWM output will result in decreasing torque and velocity. For more details, please refer to the Gain section of each operating modes.
Values Description
Range 0 ~ 885 885 = 100[%] output
Current Limit (38)
This value indicates maximum current(torque) output limit. Goal Current(102) can’t be configured with any values exceeding Current Limit(38). The Current Limit(38) is used in Torque
Control Mode and Current-based Position Control Mode, therefore decreasing Current Limit(38) will result in decreasing torque of Dynamixel. For more details, please refer to the
Position PID Gain(80 ~ 84).
Values Description
Unit about 1.34[mA] All current related Data uses the same unit
Range 0 ~ 689 -
Note : Current Limit(38) could be differ by each Dynamixel so please check the Control Table.
Acceleration Limit (40)
This value indicates maximum Profile Acceleration(108). Profile Acceleration(108) can’t be configured with any values exceeding Acceleration Limit(40). Profile Acceleration(108) is used
in all operating mode except Torque Control Mode in order to generate a target trajectory. 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 ~ 32.767 -
Note : Bit information of the Error field in the Status Packet is different from protocol 1.0 and protocol 2.0. This manual complies with protocol 2.0. Please refer to the Protocol section of e-Manual for
more details about the protocol.
Velocity Limit (44)
This value indicates maximum velocity of Goal Velocity(104) and Profile Velocity(112). For more details, please refer to the Profile Velocity(112).
Values Description
Unit 0.229[RPM] All velocity related Data uses the same unit
Range 0 ~ 1,023 -
Max Position Limit (48), Min Position Limit (52)
These values limit maximum and minimum target positions for Position Control Mode(Joint Mode) within the range of 1 rotation(0~4095). Therefore, Goal Position(116) should be
configured within the position limit range. These values are not used in Extended Position Control Mode and Current-based Position Control Mode.
Values Description
Unit 0.088[deg] All position related Data uses the same unit
Range 0 ~ 4095 The range is limited by 1 rotation
Note : Max Position Limit(48) and Min Position Limit(52) are only used in Position Control Mode with a single turn.
Shutdown (63)
The Dynamixel can protect itself by detecting dangerous situations that could occur during the operation. Each Bit is inclusively processed with the ‘OR’ logic, therefore, multiple options
can be generated. For instance, when ‘0x05’ (binary : 00000101) is defined as Shutdown(63), Dynamixel can detect both Input Voltage Error(binary : 00000001) and Overheating
Error(binary : 00000100). If those errors are detected, Torque Enable(64) is cleared to ‘0’ and the motor output becomes 0[%]. REBOOT is the only method to reset Torque Enable(64) to
‘1’(Torque ON) after the shutdown. The followings are detectable situations.