Data Sheet

2/22/2018 ROBOTIS e-Manual

http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 26/34

be calculated as below equation.

= 64 * {Goal Velocity(104) / Profile Acceleration(108)}

2. 4. 33. 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.

Mode Values Description

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]

Current-based Position

Control Mode

-1,048,575 ~ 1,048,575

-256[rev] ~

256[rev]

Degree Conversion Constant Description

0.088°/Value 1[rev] : 0 ~ 4,095

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).

2. 4. 34. Realtime Tick(120)

This value indicates Dynamixel’s time.

Unit Value Range Description

1 ms 0 ~ 32,767 The value resets to ‘0’ when it exceeds 32,767

2. 4. 35. Moving(122)

XM430-W210