2/22/2018
ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/
21/34
4. Goal PWM(100) sets a limit on the calculated PWM output
and decides the final PWM value.
5. The final PWM value is applied to the motor through an
Inverter, and the horn of DYNAMIXEL is driven.
6. Results are stored at Present Position(132), Present
Velocity(128), Present PWM(124) and Present Current(126).
Note
K
a
is an Anti-windup Gain that cannot be modified by
users. For more details about the PID controller and Feedforward
controller, please refer to the
.
2. 4. 27. Bus Watchdog(98)
Bus Watchdog (98) is available from firmware v38. It is a safety
device (Fail-safe) that stops the DYNAMIXEL if the
communication between the controller and DYNAMIXEL
communication (RS485, TTL) is disconnected due to an
unspecified error. Communication is defined as all the
Instruction Packet in the DYNAMIXEL Protocol.
Values Description
Unit
20[ms] -
Range 0
Deactivate Bus Watchdog Function, Clear Bus
Watchdog Error
Range
1 ~
127
Activate Bus Watchdog
Range -1
Bus Watchdog Error Status
The Bus Watchdog function monitors the communication
interval (time) between the controller and DYNAMIXEL when
Torque Enable (64) is ‘1’. If the measured communication
interval (time) is larger than Bus Watchdog (98), the
DYNAMIXEL will stop. Bus Watchdog (98) will be changed to
‘-1’ (Bus Watchdog Error). If the Bus Watchdog Error screen
appears, the Goal Value (Goal PWM(100), Goal Current(102),
Goal Velocity(104), Goal Position(116)) will be changed to
read-only-access. Therefore, when a new value is written to
the Goal Value, a Range Error will be returned via the Status
Back to Top ▲