Data Sheet

2/22/2018 XH430-V210
http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-v210.htm 6/15
2(Default) 2.0 Dynamixel-X, Dynamixel-PRO Series
Note : The protocol 2.0 is greatly improved from the protocol 1.0. Accessing some of the Control Table area might be denied if protocol 1.0 is selected. This manual complies with protocol 2.0. Please
refer to the Protocol section of e-Manual for more details about the protocol.
Homing Offset (20)
Users can adjust the Home position by setting Home Offset(20). The Homing Offset value is added to the Present Position(132).
Present Position(132) = Actual Position + Homing Offset(20).
Values Description
Unit about 0.088[deg] 4096 resolution. All position related Data uses the same unit
Range -1,044,479 ~ 1,044,479 ±255[rev] range
Note : In case of the Position Control Mode(Joint Mode) that rotates less than 360 degrees, any invalid Homing Offset(20) values will be ignored(valid range : -1024 ~ 1024).
Moving Threshold (24)
This value helps to determine whether the Dynamixel is in motion or not. When the absolute value of Present Velocity(128) is greater than the Moving Threshold(24), Moving(122) is set
to ‘1’, otherwise it is cleared to ‘0’.
Values Description
Unit 0.229[RPM] All velocity related Data uses the same unit
Range 0 ~ 1,023 -
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.