...
POST No. 2407699
Time based profile takes more time than required
2019-12-14 00:13:39 kkk123

Hi I am using Open CM 9.04+EXP board with XM 430 W 350 T 

With below program i was expecting that servo position will be changed to 4095 in 3 seconds. However it looks like it is taking more time than 4.5 seconds to reach 4095. Is something wrong with code?


#define ADDRESS_GOAL_POSITION           116

#define ADDRESS_OPERATING_MODE       11

#define ADDRESS_PROF_VEL                112

#define ADDRESS_PROF_ACC                108

#define ADDRESS_MOV_STATUS              123

#define ADDRESS_DRIVE_MODE              10


packetHandler->write1ByteTxRx(portHandler, DXL_ID1, ADDRESS_OPERATING_MODE, 4);

packetHandler->write1ByteTxRx(portHandler, DXL_ID1, ADDRESS_DRIVE_MODE, 4);

packetHandler->write1ByteTxRx(portHandler, DXL_ID1, ADDRESS_TORQUE_ENABLE, 1);

  

packetHandler->write4ByteTxRx(portHandler, DXL_ID1, ADDRESS_PROF_VEL, 3000);

packetHandler->write4ByteTxRx(portHandler, DXL_ID1, ADDRESS_GOAL_POSITION, 4095);

2019-12-14 00:13:39
kkk123
2019-12-15 17:12:29 Will Son

Hi,


Though I need to run the code, it looks like the code doesn't have any issue.

Have you changed any other settings such as PWM LIMIT of the DYNAMIXEL?

What is the power source and input voltage level for DYNAMIXEL?

2019-12-15 17:12:29
willson
Reply
웹에디터 시작 웹 에디터 끝