We are very excited with the possibilities the Dynamixel servos offer over the common RC-servos.

Unfortunately, one aspect which remains troublesome is the handling of servo speed (following tests in free spin mode)
1. If I send a speed command of 244, I measure it moves at 300 tics/second (by using difference in position feedback divided by time)
2. During this motion, the servo's own speed feedback variable reports it is moving at ~140

So, how to interpret these values?  None are consistent :(
Does input voltage affect speed control?  (I'm using the wall-power supply, Dynamixel reports 12.4 volts)
Or perhaps the different speed values are using different units?
I'm hoping voltage doesn't change the speed, that will be harder to use :(

Finally, I notice in an earlier post about speed control it was suggested to use a series of intermediary full-speed position updates instead of using a speed-limited command (e.g. setting both goal position and moving speed).  Does this imply the servo does not internally modify torque during a motion to maintain speed under varying loads?

thanks!
  -ethan