Data Sheet
2/22/2018 XH430-V210
http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-v210.htm 3/15
13 1 Protocol Version Protocol Version RW 2
20 4 Homing Offset Home Position Offset RW 0
24 4 Moving Threshold
Velocity Threshold for Movement
Detection
RW 10
31 1 Temperature Limit Maximum Internal Temperature Limit RW 80
32 2 Max Voltage Limit Maximum Voltage Limit RW 300
34 2 Min Voltage Limit Minimum Voltage Limit RW 110
36 2 PWM Limit Maximum PWM Limit RW 885
38 2 Current Limit Maximum Current Limit RW 689
40 4 Acceleration Limit Maximum Acceleration Limit RW 32767
44 4 Velocity Limit Maximum Velocity Limit RW 380
48 4 Max Position Limit Maximum Position Limit RW 4095
52 4 Min Position Limit Minimum Position Limit RW 0
63 1 Shutdown Shutdown Dynamixel RW 52
R
A
M
64 1 Torque Enable Motor Torque On/Off RW 0
65 1 LED Status LED On/Off RW 0
68 1 Status Return Level Select Types of Status Return RW 2
69 1 Registered Instruction Check Reception of Instruction R 0
70 1 Hardware Error Status Hardware Error Status R 0
76 2 Velocity I Gain I Gain of Velocity RW 1920
78 2 Velocity P Gain P Gain of Velocity RW 100
80 2 Position D Gain D Gain of Position RW 0
82 2 Position I Gain I Gain of Position RW 0
84 2 Position P Gain P Gain of Position RW 800
88 2 Feedforward 2nd Gain 2nd Gain of Feed-Forward RW 0
90 2 Feedforward 1st Gain 1st Gain of Feed-Forward RW 0
98 1 Bus Watchdog Dynamixel Bus Watchdog RW 0
100 2 Goal PWM Target PWM Value RW -
102 2 Goal Current Target Current Value RW -
104 4 Goal Velocity Target Velocity Value RW -
108 4 Profile Acceleration Acceleration Value of Profile RW 0
112 4 Profile Velocity Velocity Value of Profile RW 0
116 4 Goal Position Target Position Value RW -
120 2 Realtime Tick Count Time in millisecond R -
122 1 Moving Movement Status R 0
123 1 Moving Status
Detailed Information of Movement
Status
R 0
124 2 Present PWM Current PWM Value R -
126 2 Present Current Current Current Value R -
128 4 Present Velocity Current Velocity Value R -
132 4 Present Position Current Position Value R -
136 4 Velocity Trajectory
Target Velocity Trajectory Generated by
Profile
R -
140 4 Position Trajectory
Target Position Trajectory Generated by
Profile
R -
144 2 Present Input Voltage Current Input Voltage R -
146 1 Present Temperature Current Internal Temperature R -
168 2 Indirect Address 1 Indirect Address 1 RW 224
170 2 Indirect Address 2 Indirect Address 2 RW 225
172 2 Indirect Address 3 Indirect Address 3 RW 226
… … … … … …
218 2 Indirect Address 26 Indirect Address 26 RW 249
220 2 Indirect Address 27 Indirect Address 27 RW 250
222 2 Indirect Address 28 Indirect Address 28 RW 251
224 1 Indirect Data 1 Indirect Data 1 RW 0
225 1 Indirect Data 2 Indirect Data 2 RW 0
226 1 Indirect Data 3 Indirect Data 3 RW 0