Data Sheet

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 6/34
Address
Size
(Byte)
Data Name Description Access
Initial
Value
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
XM430-W210
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