Data Sheet

2/23/2018 XM540-W270
http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm540-w270.htm 5/17
For instance, if the Return Delay Time(9) is set to ‘10’, the Status Packet will be returned after 20[μsec] when the Instruction Packet is received.
Values Description
Unit 2[μsec] -
Range 0 ~ 254 Default value ‘250’(500[μsec]), Maximum 508[μsec]
Drive Mode (10, Available after Firmware version 38)
Driver Mode Definition Values
Bit 7 0x80 - Unused, always ‘0’
Bit 6 0x40 - Unused, always ‘0’
Bit 5 0x20 - Unused, always ‘0’
Bit 4 0x10 - Unused, always ‘0’
Bit 3 0x08 - Unused, always ‘0’
Bit 2 0x04 - Unused, always ‘0’
Bit 1 0x02
Master / Slave Configuration
(Dual Joint)
Master mode('0') : Operate as a Master DYNAMIXEL
Slave mode('1') : Operate as a Slave DYNAMIXEL
Bit 0 0x01 Direction of Rotation
Normal mode(‘0’) : CCW(Positive), CW(Negative)
Reverse mode(’1’) : CCW(Negative), CW(Positive)
Setting Reverse mode('1') for Direction of Rotation, DYNAMIXEL will switch rotating direction.
Therefore the direction of Position, Velocity, Current, PWM will be affected.
This feature can be very useful when configuring symmetrical joint system or wheel system.
Master / Slave Configuration (Dual Joint) is intended to control two DYNAMIXELs as a single module.
The Master DYNAMIXEL and the Slave DYNAMIXEL has to be interconnected with a Synchronization cable.
The Slave DYNAMIXEL is controlled by the PWM signal sent from the Master DYNAMIXEL via the synchronization cable.
Therefore, Goal Position, Goal Current, Goal PWM of the Slave DYNAMIXEL will be ignored in this mode.
Synchronization Cable Description
General Mode
The Slave DYNAMIXEL is controlled by the PWM signal from the Master DYNAMIXEL.
Master / Slave DYNAMIXELs have an identical rotational direction.
Reverse Mode (Twisted)
The Slave DYNAMIXEL is controlled by inverted PWM signal from the Master DYNAMIXEL.
Master / Slave DYNAMIXELs have opposite rotational directions.
If Master / Slave DYNAMIXELs are not mechanically connected to each other, each DYNAMIXEL could have minor differences during
operation.
Please mount both DYNAMIXELs as shown in the below image.
Operating Mode (11)
Each operating mode has a significant characteristic. Please select most appropriate operating mode for designed system.
Value Operating Mode Description
0 Current Control Mode
Dynamixel only controls current(torque) regardless of speed and position.
This mode is ideal for a gripper or a system that only uses current(torque) control or a system that has additional velocity/position controllers.
1
Velocity Control Mode
(0° ~ 360°)
This mode controls velocity.
This mode is identical to the Wheel Mode(endless) from existing Dynamixels. This mode is ideal for wheel-type robots.
3(Default) Position Control Mode This mode controls position.