Base on the control flow of position mode (please refer 1.PNG), profile was calculated by Goal Vel. and Goal Acc.
Pleases help to provide more information about time control ( Acceleration time
Fixed Speed time, Slow down time). (Please refer 2.PNG)
Current Dynamixel Pro does not create profile based on time.
Please use Goal Acceleration and Goal/Present Velocity to calculate the time for acceleration and deceleration.
We understood the Velocity and Acceleration was calculate base on the P control (position) and PI control (Vel. and Trq). We had used the Pro Motors to build our manipulator and we would like to estimate the performance of the manipulator, especially for weight vs speed. therefore we would like to know the safety acceleration of Goal Torque.
It might be helpful for you to track the profile position and the actual position in order to decide whether you are using a safe value for the application.
With the identical Dynamixel Pro hardware, there's an upgraded firmware that provides more features such as reading Position/Velocity Trajectories.
This firmware has not been released yet, but if you contact to email@example.com, you might be able to get the closed beta firmware.
However, this will change control table addresses of current Dynamixel Pro, so please consider it before applying.