Overview and Characteristics of AX Main Specifications 2. Dynamixel Operation Mechanical Assembly
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It is a moving speed to Goal Position. The range and the unit of the value may vary depending on the operation mode. If it is set to 0, it means the maximum rpm of the motor is used without controlling the speed. If it is , it is about rpm. For example, if it is set to , it is about Notes: Please check the maximum rpm of relevant model in Joint Mode.
Even if the motor is set to more than maximum rpm, it cannot generate the torque more than the maximum rpm. That is, the 10th bit becomes the direction bit to control the direction. In Wheel Mode, only the output control is possible, not speed. It is the value of the maximum torque limit. If the power is turned on, the value of Max Torque Address 14, 15 is used as the initial value.
Notes: If the function of Alarm Shutdown is triggered, the motor loses its torque because the value becomes 0. At this moment, if the value is changed to the value other than 0, the motor can be used again. It is the current position value of Dynamixel. It is the current moving speed. That is, the 10th bit becomes the direction bit to control the direction, and 0 and are equal. The unit of this value varies depending on operation mode.
Joint Mode The unit is about 0. For example, if it is set to , it means that the motor is moving to the CCW direction at a rate of about Wheel Mode The unit is about 0. It means currently applied load. That is, the 10th bit becomes the direction bit to control the direction, and is equal to 0.
Notes: Current load is inferred from the internal torque value, not from Torque sensor etc. For that reason, it cannot be used to measure weight or torque; however, it must be used only to detect which direction the force works. Present Voltage It is the size of the current voltage supplied. This value is 10 times larger than the actual voltage. For example, when 10V is supplied, the data value is 0x64 Present Temperature It is the internal temperature of Dynamixel in Celsius.
Data value is identical to the actual temperature in Celsius.
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