Data Sheet

1/11/2018 XL430-W250
http://support.robotis.com/en/product/actuator/dynamixel_x/xl_series/xl430-w250.htm 10/15
called Velocity Override. For a simple calculation, let's assume that the initial velocity of the Profile is '0'. The following explains how Profile processes Goal Position(116) instruction in Position Control mode,
Extended Position Control Mode, Current-based Position Control Mode.
① An Instruction from the user is transmitted via Dynamixel bus, then registered to Goal Position(116).
② Acceleration time(t1) is calculated from Profile Velocity(112) and Profile Acceleration(108).
③ Types of Profile is decided based on Profile Velocity(112), Profile Acceleration(108) and total travel distance(ΔPos, the distance difference between target position and current position)
Condition Types of Profile
V
PRFL(112)
= 0
Profile not used (Step Instruction)
(V
PRFL(112)
≠ 0) & (A
PRF(108)
= 0)
Rectangular Profile
(V
PRFL(112)
≠ 0) & (A
PRF(108)
≠ 0) & (V
PRFL_TRI
≤ V
PRFL(112)
)
Triangular Profile
(V
PRFL(112)
≠ 0) & (A
PRF(108)
≠ 0) & (V
PRFL_TRI
＞ V
PRFL(112)
) Trapezoidal Profile
④ Selected Profile type is stored at Moving Status(123).(Refer to the Moving Status(123))
⑤ Dynamixel is driven by the calculated target trajectory from Profile.
⑥ Target velocity trajectory and target position trajectory from Profile are stored at Velocity Trajectory(136) and Position Trajectory(140) respectively.
⑦ V
PRFL_TRI
of ③ and Travel time(t3) to reach Goal Position(116) is calculated as below.
Note1) : Dynamixel supports Jerk control in order to minimize dramatic change of acceleration. Therefore, actual travel time by the target trajectory of Profile could be longer than t3(t4 of above figure).
Note2) : Velocity Control Mode only uses Profile Acceleration(108). Step and Trapezoidal Profiles are supported. Velocity Override and Jerk control are supported as well. Acceleration time(t1) can be
calculated as below equation.
Goal Position (116)
Target position can be set with Goal Position(116). From the front view of Dynamixels, CCW is an increasing direction whereas CW is a decreasing direction. The way to reaching Goal Position(116) is differ
by 4 Profiles provided by Dynamixels. Please refer to the Profile Velocity(112) for more details.
Values Description
Unit 0.088[deg] 1[rev] : 0 ~ 4,095
Range
Position Control Mode Min Position Limit(52) ~ Max Position Limit(48) Initial Value : 0 ~ 4,095
Extended Position Control Mode -1,048,575 ~ 1,048,575 -256[rev] ~ 256[rev]
Note : If Profile Acceleration(108), Profile Velocity(112) and Goal Position(116) are modified simultaneously, Goal Position(116) is processed based on updated Profile Acceleration(108) and Profile
Velocity(112).
Realtime Tick (120)
This value indicates Dynamixel's time.
Values Description