Data Sheet

2/23/2018 XH-430-V350
http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh-430-v350.htm 7/15
Shutdown Definition Description
bit 7 0x80 - Unused, always ‘0’
bit 6 0x40 - Unused, always ‘0’
bit 5 0x20 Overload Error(Default) Detect persistent load that exceeds maximum output
bit 4 0x10 Electrical Shock Error(Default) Detect electrical shock on the circuit, or input power is insufficient to operate the motor
bit 3 0x08 Motor Encoder Error Detect malfunction of the motor encoder
bit 2 0x04 Overheating Error(Default) Detect internal temperature exceeds the configured operating temperature
bit 1 0x02 Motor Hall Sensor Error(Unused) Unused, always ‘0’
bit 0 0x01 Input Voltage Error Detect input voltage exceeds the configured operating voltage
Note : If Shutdown occurs, use below method to REBOOT Dynamixels.
① H/W REBOOT : Turn off the power and turn on again
② S/W REBOOT : Transmit REBOOT Instruction (For more details, please refer to the Protocol section of e-Manual.)
RAM Area
Torque Enable (64)
Controls Torque ON/OFF. Writing ‘1’ to this address will turn on the Torque and all Data in the EEPROM area will be protected.
Values Description
0(Default) Torque OFF(Free-run) and the motor does not generate torque.
1 Torque ON and all Data in the EEPROM area will be locked.
Note : Present Position(132) can be reset when Operating Mode(11) and Torque Enable(64) are updated. For more details, please refer to the Homing Offset(20) and Present Position(132).
LED (65)
Turn on or turn off the LED. Dynamixel LED can only be controlled by LED(65).
Values Description
Values Description
0(Default) Turn off the LED.
1 Turn on the LED.
Status Return Level (68)
This value decides how to return Status Packet when Dynamixel receives an Instruction Packet.
Values When to return Status Packet Description
0 PING Instruction Status Packet will not be returned for all Instructions. (Exception : PING Instruction)
1
PING Instruction
READ Instruction
Status Packet will only be returned for READ Instruction.
exceptionally returns Status Packet to all Instruction.
2 All Instructions Status Packet will be returned for all Instructions.
Note : If the ID of Instruction Packet is set to Broad Cast ID(0xFE), Status Packet will not be returned for READ and WRITE Instructions regardless of Status Return Level(68). For more details, please
refer to the Protocol section of e-Manual.
Registered Instruction (69)
This value will be set to ‘1’ when Dynamixel receives REG_WRITE Instruction Packet and processing ACTION Instruction Packet will clear the value to ‘0’.
Hardware Error Status (70)
This value indicates hardware error status. For more details, please refer to the Shutdown(63).
Velocity I Gain (76), Velocity P Gain (78)
These values indicate Gains of Velocity Control Mode. Gains of Dynamixel’s internal controller can be calculated from Gains of the Control Table as shown below. The constant in each equations include
sampling time. Velocity P Gain of Dynamixel’s internal controller is abbreviated to K
V
P and that of the Control Table is abbreviated to K
V
P
(TBL)
.
Controller Gain Conversion Equations Range Description
Velocity I Gain(76)
K
V
I K
V
I = K
V
I
(TBL)
/ 65536
0 ~ 16383 I Gain
Velocity P Gain(78)
K
V
P K
V
P = K
V
P
(TBL)
/ 128
0 ~ 16383 P Gain
Below figure is a block diagram describing the velocity controller in Velocity Control Mode. When the instruction transmitted from the user is received by Dynamixel, it takes following steps until driving the
horn.
① An Instruction from the user is transmitted via Dynamixel bus, then registered to Goal Velocity(104).
② Goal Velocity(104) is converted to target velocity trajectory by Profile Acceleration(108).
③ The target velocity trajectory is stored at Velocity Trajectory(136).
④ PI controller calculates PWM output for the motor based on the target velocity trajectory.
⑤ Goal PWM(100) sets a limit on the calculated PWM output and decides the final PWM value.
⑥ The final PWM value is applied to the motor through an Inverter, and the horn of Dynamixel is driven.
⑦ Results are stored at Present Position(132), Present Velocity(128), Present PWM(124) and Present Current(126).