POST No. 2407186
Profile control (Motion chart) of H54-200-S500-R in position mode
2018-12-06 12:10:04 barrel

Hi Support, 

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)


2018-12-06 12:10:04
2018-12-07 16:39:43 Will Son


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.

Thank you.

2018-12-07 16:39:43
2018-12-09 23:36:01 Barrel,Lee

**Hi Will,

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.



2018-12-09 23:36:01
2018-12-10 11:07:50 Will Son

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 contactus2@robotis.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.

Thank you.

2018-12-10 11:07:50
2018-12-10 16:59:41 Barrel,Lee

Hi Will,

The Current FW was provided the 611,615 and 612 for Position, Velocity Current.  Can you send the more detail information to barrel_lee@pegatroncorp.com

or I shall ask to contactus2@robotis.com

6114Present PositionR--1 [pulse]
6154Present VelocityR--0.00199234 [rev/min]
6212Present CurrentR--16.11328 [mA]
2018-12-10 16:59:41
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