Data Sheet

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 5/34
Address
Size
(Byte)
Data Name Description Access
Initial
Value
34 2 Min Voltage Limit
Minimum Input
Voltage Limit
RW 95
36 2 PWM Limit
Maximum PWM
Limit
RW 885
38 2 Current Limit
Maximum Current
Limit
RW 1193
40 4 Acceleration Limit
Maximum
Accleration Limit
RW 32767
44 4 Velocity Limit
Maximum Velocity
Limit
RW 480
48 4 Max Position Limit
Maximum Position
Limit
RW 4095
52 4 Min Position Limit
Minimum Position
Limit
RW 0
63 1 Shutdown
Shutdown Error
Information
RW 52
2. 3. Control Table of RAM Area
Address
Size
(Byte)
Data Name Description Access
Initial
Value
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
XM430-W210
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