Robotis DYNAMIXEL XM430-W210 Guide

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 1/34
DYNAMIXEL PLATFORM STEAM SOFTWARE PARTS FAQ
Custom Search
 Edit on GitHub
XM430-W210
1. Specifications
Item Specifications
MCU ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32Bit)
Position Sensor Contactless absolute encoder (12Bit, 360°)
Maker : ams(www.ams.com), Part No : AS5045
Motor Coreless Motor
Baud Rate 9600 bps ~ 4.5 Mbps
Control
Algorithm PID control
Degree of
Precision 0.088°
Operating
Modes
Current Control Mode
Velocity Control Mode
Position Control Mode (0° ~ 360°)
Extended Position Control Mode
Current-based Position Control Mode
PWM Control Mode (Voltage Control Mode)
Weight 82g
Dimensions (W x
H x D) 28.5mm x 46.5mm x 34mm
Gear Ratio 212.6 : 1
Stall Torque
2.7N.m @ 11.1V, 2.1A
3.0Nm @ 12.0V, 2.3A
3.7Nm @ 14.8V, 2.7A
XM430-W210
Back to Top ▲
1. Specifications [+]
2. Control Table [+]
3. How to Assemble [+]
4. Maintenance [+]
5. Reference [+]

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 2/34
Item Specifications
No Load Speed
70rpm @ 11.1V
77rpm @ 12.0V
95rpm @ 14.8V
Operating
Temperature -5°C ~ +80°C
Input Voltage 10.0 ~ 14.8V (Recommended : 12.0V)
Standby Current 40mA
Command
Signal Digital Packet
Protocol Type
XM430-W210-T: Half Duplex Asynchronous Serial
Communication
XM430-W210-R: RS485 Asynchronous Serial Communication
(8bit, 1stop, No Parity)
Physical
Connection
XM430-W210-T: TTL Level Multidrop BUS
XM430-W210-R: RS485 Multidrop BUS
ID 0 ~ 252
Feedback Position, Velocity, Current, Realtime tick, Trajectory,
Temperature, Input Voltage, etc
Part Material Full Metal Gear
Metal(Front, Middle), Engineering Plastic(Back)
1. 1. Performance Graph
Note The max torque measurement method for the Stall Torque and
Performance Graph is different. Stall torque is measured from the
max torque that it can reach. This is generally how RC servos
measure their torque. For the Performance graph with the N-T
curves, it is measured with the load gradually increasing. The motor
operation environment is closer to the performance graph, not stall
torque method. This is probably why the performance graph is being
broadly used in the industrial market. This is why the max torque of
the performance grap can actually be less than the stall torque.
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 3/34
Caution When connecting to power supply, it is recommended
using ROBOTIS controller or SMPS2DYNAMIXEL. Do not connect or
disconnect DYNAMIXEL when power is being supplied.
2. Control Table
The Control Table is a structure of data implemented in the
DYNAMIXEL. Users can read a specific Data to get status of the
DYNAMIXEL with Read Instruction Packets, and modify Data as well
to control DYNAMIXEL with WRITE Instruction Packets.
2. 1. Control Table, Data, Address
The Control Table is a structure that consists of multiple Data
fields to store status of the DYNAMIXEL or to control the
DYNAMIXEL. Users can check current status of the DYNAMIXEL
by reading a specific Data from the Control Table with Read
Instruction Packets. WRITE Instruction Packets enable users to
control the DYNAMIXEL by changing specific Data in the Control
Table. The Address is a unique value when accessing a specific
Data in the Control Table with Instruction Packets. In order to
read or write data, users must designate a specific Address in the
Instruction Packet. Please refer to Protocol 2.0 for more details
about Instruction Packets.
Note Two’s complement is applied for the negative value. For more
information, please refer to Two’s complement from Wikipedia.
2. 1. 1. Area (EEPROM, RAM)
The Control Table is divided into 2 Areas. Data in the RAM
Area is reset to initial values when the power is reset(Volatile).
On the other hand, data in the EEPROM Area is maintained
even when the DYNAMIXEL is powered off(Non-Volatile). Data
in the EEPROM Area can only be written to if Torque
Enable(64) is cleared to ‘0’(Off).
2. 1. 2. Size
The Size of data varies from 1 to 4 bytes depend on their
usage. Please check the size of data when updating the data
with an Instruction Packet. For data larger than 2 bytes will be
saved according to Little Endian.
2. 1. 3. Access
The Control Table has two different access properties. ‘RW’
property stands for read and write access permission while ‘R’
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 4/34
stands for read only access permission. Data with the read
only property cannot be changed by the WRITE Instruction.
Read only property(‘R’) is generally used for measuring and
monitoring purpose, and read write property(‘RW’) is used for
controlling DYNAMIXEL.
2. 1. 4. Initial Value
Each data in the Control Table is restored to initial values when
the DYNAMIXEL is turned on. Default values in the EEPROM
area are initial values of the DYNAMIXEL (factory default
settings). If any values in the EEPROM area are modified by a
user, modified values will be restored as initial values when
the DYNAMIXEL is turned on. Initial Values in the RAM area
are restored when the DYNAMIXEL is turned on.
2. 2. Control Table of EEPROM Area
Address Size
(Byte) Data Name Description Access Initial Value
0 2 Model Number Model Number R 1030
2 4 Model Information Model Information R -
6 1 Firmware Version Firmware Version R -
7 1 ID DYNAMIXEL ID RW 1
8 1 Baud Rate Communication
Speed RW 1
9 1 Return Delay Time Response Delay
Time RW 250
10 1 Drive Mode Default Rotation
Direction RW 0
11 1 Operating Mode Operating Mode RW 3
12 1 Secondary(Shadow)
ID
Secondary(Shadow)
ID RW 255
13 1 Protocol Version Protocol Version RW 2
20 4 Homing Offset Home Position
Offset RW 0
24 4 Moving Threshold
Velocity Threshold
for Movement
Detection
RW 10
31 1 Temperature Limit Maximum Internal
Temperature Limit RW 80
32 2 Max Voltage Limit Maximum Input
Voltage Limit RW 160
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 5/34
Address Size
(Byte) Data Name Description Access Initial Value
34 2 Min Voltage Limit Minimum Input
Voltage Limit RW 95
36 2 PWM Limit Maximum PWM
Limit RW 885
38 2 Current Limit Maximum Current
Limit RW 1193
40 4 Acceleration Limit Maximum
Accleration Limit RW 32767
44 4 Velocity Limit Maximum Velocity
Limit RW 480
48 4 Max Position Limit Maximum Position
Limit RW 4095
52 4 Min Position Limit Minimum Position
Limit RW 0
63 1 Shutdown Shutdown Error
Information RW 52
2. 3. Control Table of RAM Area
Address Size
(Byte) Data Name Description Access Initial Value
64 1 Torque
Enable Motor Torque On/Off RW 0
65 1 LED Status LED On/Off RW 0
68 1 Status Return
Level
Select Types of Status
Return RW 2
69 1 Registered
Instruction
Check Reception of
Instruction R 0
70 1 Hardware
Error Status Hardware Error Status R 0
76 2 Velocity I
Gain I Gain of Velocity RW 1920
78 2 Velocity P
Gain P Gain of Velocity RW 100
80 2 Position D
Gain D Gain of Position RW 0
82 2 Position I
Gain I Gain of Position RW 0
84 2 Position P
Gain P Gain of Position RW 800
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 6/34
Address Size
(Byte) Data Name Description Access Initial Value
88 2 Feedforward
2nd Gain
2nd Gain of Feed-
Forward RW 0
90 2 Feedforward
1st Gain
1st Gain of Feed-
Forward RW 0
98 1 Bus
Watchdog
DYNAMIXEL Bus
Watchdog RW 0
100 2 Goal PWM Target PWM Value RW -
102 2 Goal Current Target Current Value RW -
104 4 Goal Velocity Target Velocity Value RW -
108 4 Profile
Acceleration
Acceleration Value of
Profile RW 0
112 4 Profile
Velocity Velocity Value of Profile RW 0
116 4 Goal Position Target Position Value RW -
120 2 Realtime Tick Count Time in
millisecond R -
122 1 Moving Movement Status R 0
123 1 Moving
Status
Detailed Information of
Movement Status R 0
124 2 Present PWM Current PWM Value R -
126 2 Present
Current Current Current Value R -
128 4 Present
Velocity Current Velocity Value R -
132 4 Present
Position Current Position Value R -
136 4 Velocity
Trajectory
Target Velocity
Trajectory Generated by
Profile
R -
140 4 Position
Trajectory
Target Position
Trajectory Generated by
Profile
R -
144 2 Present Input
Voltage Current Input Voltage R -
146 1 Present
Temperature
Current Internal
Temperature R -
168 2 Indirect
Address 1 Indirect Address 1 RW 224
170 2 Indirect
Address 2 Indirect Address 2 RW 225
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 7/34
Address Size
(Byte) Data Name Description Access Initial Value
172 2 Indirect
Address 3 Indirect Address 3 RW 226
… … … … … …
218 2 Indirect
Address 26 Indirect Address 26 RW 249
220 2 Indirect
Address 27 Indirect Address 27 RW 250
222 2 Indirect
Address 28 Indirect Address 28 RW 251
224 1 Indirect Data
1Indirect Data 1 RW 0
225 1 Indirect Data
2Indirect Data 2 RW 0
226 1 Indirect Data
3Indirect Data 3 RW 0
… … … … … …
249 1 Indirect Data
26 Indirect Data 26 RW 0
250 1 Indirect Data
27 Indirect Data 27 RW 0
251 1 Indirect Data
28 Indirect Data 28 RW 0
578 2 Indirect
Address 29 Indirect Address 29 RW 634
580 2 Indirect
Address 30 Indirect Address 30 RW 635
582 2 Indirect
Address 31 Indirect Address 31 RW 636
… … … … … …
628 2 Indirect
Address 54 Indirect Address 54 RW 659
630 2 Indirect
Address 55 Indirect Address 55 RW 660
632 2 Indirect
Address 56 Indirect Address 56 RW 661
634 1 Indirect Data
29 Indirect Data 29 RW 0
635 1 Indirect Data
30 Indirect Data 30 RW 0
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 8/34
Address Size
(Byte) Data Name Description Access Initial Value
636 1 Indirect Data
31 Indirect Data 31 RW 0
… … … … … …
659 1 Indirect Data
54 Indirect Data 54 RW 0
660 1 Indirect Data
55 Indirect Data 55 RW 0
661 1 Indirect Data
56 Indirect Data 56 RW 0
Caution Protocol 1.0 does not support addresses greater than 256.
Therefore, Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can
only be accessed with Protocol 2.0.
2. 4. Control Table Description
Caution Data in the EEPROM Area can only be written when the
value of Torque Enable(64) is cleared to ‘0’.
2. 4. 1. Model Number(0)
This address stores model number of the DYNAMIXEL.
2. 4. 2. Firmware Version(6)
This address stores firmware version of the DYNAMIXEL.
2. 4. 3. ID(7)
The ID is a unique value in the network to identify each
DYNAMIXEL with an Instruction Packet. 0~252 (0xFC) values
can be used as an ID, and 254(0xFE) is occupied as a
broadcast ID. The Broadcast ID(254, 0xFE) can send an
Instruction Packet to all connected DYNAMIXELs
simultaneously.
Note Please avoid using an identical ID for multiple
DYNAMIXELs. You may face communication failure or may not be
able to detect Dynamixels with an identical ID.
2. 4. 4. Baud Rate(8)
Baud Rate determines serial communication speed between a
controller and DYNAMIXELs.
Value Baud Rate Margin of Error
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 9/34
Value Baud Rate Margin of Error
7 4.5M 0.000%
6 4M 0.000%
5 3M 0.000%
4 2M 0.000%
3 1M 0.000%
2 115,200 0.000%
1(Default) 57,600 0.000%
0 9,600 0.000%
Note Less than 3% of the baud rate error margin will not affect
to UART communication.
2. 4. 5. Return Delay Time(9)
After the DYNAMIXEL receives an Instruction Packet, it delays
transmitting the Status Packet for Return Delay Time (9). For
instance, if the Return Delay Time(9) is set to ‘10’, the Status
Packet will be returned after 20[μsec] when the Instruction
Packet is received.
Unit Value
Range Description
2[μsec] 0 ~ 254 Default value ‘250’(500[μsec]), Maximum
508[μsec]
2. 4. 6. Drive Mode(10)
Drive Mode is availabe from the firmware version 38.
Bit Item Description
Bit 1(0x02) ~
7(0x80) N/A Unused, always ‘0’
Bit 0(0x01) Direction of
Rotation
Normal Mode(0): CCW(Positive),
CW(Negative)
Reverse Mode(1): CCW(Negative),
CW(Positive)
2. 4. 7. Operating Mode(11)
Value Operating
Mode Description
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 10/34
Value Operating
Mode Description
0
Current
Control
Mode
DYNAMIXEL only controls current(torque)
regardless of speed and position. This mode
is ideal for a gripper or a system that only
uses current(torque) control or a system
that has additional velocity/position
controllers.
1
Velocity
Control
Mode
This mode controls velocity. This mode is
identical to the Wheel Mode(endless) from
existing DYNAMIXELs. This mode is ideal for
wheel-type robots.
3(Default)
Position
Control
Mode
This mode controls position. This mode is
identical to the Joint Mode from existing
DYNAMIXELs. Operating position range is
limited by Max Position Limit(48) and Min
Position Limit(52). This mode is ideal for
articulated robots that each joint rotates
less than 360 degrees.
4
Extended
Position
Control
Mode(Multi-
turn)
This mode controls position. This mode is
identical to the Multi-Turn Mode from
existing DYNAMIXELs. 512 turns are
supported(-256[rev] ~ 256[rev]). This mode
is ideal for multi-turn wrists or conveyer
systems or a system that requires an
additional reduction gear.
5
Current-
based
Position
Control
Mode
This mode controls both position and
current(torque). Up to 512 turns are
supported(-256[rev] ~ 256[rev]). This mode
is ideal for a system that requires both
position and current control such as
articulated robots or grippers.
16
PWM
Control
Mode
(Voltage
Control
Mode)
This mode directly controls PWM output.
(Voltage Control Mode)
Note Switching Operating Mode will reset gains(PID,
Feedfoward) properly to the selected Operating Mode. The
profile generator and limits will also be reset.
1. Profile Velocity(112), Profile Acceleration(108) : Reset to ‘0’
2. Goal PWM(100), Goal Current(102) : Reset to PWM Limit(36),
Current Limit(38) respectively
3. Current-based Position Control Mode : Reset to Position
Gain(PID) and PWM Limit(36) values.
Changed Position Gain(PID) and PWM Limit(36) values can be
read from the Control Table.
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 11/34
Note PWM is the abbreviation for Pulse Width Modulation that
modulates PWM Duty to control motors. The PWM Control Mode
changes pulse width to control average supply voltage to the
motor and this technique is widely used in the motor control
field. Therefore, PWM Control Mode uses Goal PWM(100) value
to control supply voltage for DYNAMIXEL. PWM Control Mode is
similar to the Wheel Mode of DYNAMIXEL AX and RX series.
2. 4. 8. Secondary(Shadow) ID(12)
Set the Dynamixel’s Secondary ID. Secondary ID(12) is a value
to identify each Dynamixel, just like the ID(7). However, unlike
ID(7), Secondary ID(12) is not a unique value. Therefore,
Dynamixels with the same Secondary ID value form a group.
The differences between Secondary ID(12) and ID(7) are as
follows :
1. Secondary ID(12) is not a unique value. i.e., a lot of
Dynamixels may have the same Secondary ID value.
2. ID(7) has a higher priority than Secondary ID(12). i.e., if
Secondary ID(12) and ID(7) are the same, ID(7) will be
applied first.
3. The EEPROM area of the Control Table cannot be modified
with Secondary ID(12). Only the RAM area can be
modified.
4. If Instruction Packet ID is the same as Secondary ID(12),
the Status Packet will not be returned.
5. If the value of Secondary ID(12) is 253 or higher, the
Secondary ID function is deactivated.
Values Description
0 ~ 252 Activate Secondary ID function
253 ~ 255 Deactivate Secondary ID function, Default value ‘255’
The following are examples of operation when there are five
Dynamixels with ID (7) set from 1 to 5.
1. Set all five Dynamixels’ Secondary ID(12) to ‘5’.
2. Send Write Instruction Packet(ID = 1, LED(65) = 1).
3. Turn on LED of Dynamixel with ID ‘1’ and return the Status
Packet.
4. Send Write Instruction Packet(ID = 5, LED(65) = 1).
5. Turn on LED on five Dynamixels. However, Status Packet of
Dynamixel with ID ‘5’ will be returned.
6. Set the Secondary ID(12) of all five Dynamixels to ‘100’.
7. Send Write Instruction Packet(ID = 100, LED(65) = 0).
8. Turn off LED on five Dynamixels. However, as there is no
Dynamixel with ID ‘100’, Status Packet is not returned.
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 12/34
2. 4. 9. Protocol Version(13)
Users can select Dynamixel protocol version (1.0 and 2.0). It is
recommended to use an identical protocol version for
multiple Dynamixels.
Value Protocol
Version Compatible Dynamixels
1 1.0 AX Series, DX Series, RX Series, EX Series, MX
Series with Firmware below v39
2(default) 2.0 MX-28/64/106 with Firmware v39 or above, X
Series, Pro Series
Note The protocol 2.0 is greatly enhanced from the protocol 1.0.
Accessing some of the Control Table area might be denied if
protocol 1.0 is selected. This manual complies with protocol 2.0.
Please refer to the Protocol section of e-Manual for more details
about the protocol.
2. 4. 10. Homing Offset(20)
Users can adjust the Home position by setting Home
Offset(20). The Homing Offset value is added to the Present
Position(132). Present Position(132) = Actual Position +
Homing Offset(20).
Unit Value Range Description
about 0.088° -1,044,479 ~ 1,044,479
(-255 ~ 255[rev]) 4,096 resolution
Note In case of the Position Control Mode(Joint Mode) that
rotates less than 360 degrees, any invalid Homing Offset(20)
values will be ignored(valid range : -1,024 ~ 1,024).
2. 4. 11. Moving Threshold(24)
This value helps to determine whether the Dynamixel is in
motion or not.
When the absolute value of Present Velocity(128) is greater
than the Moving Threshold(24), Moving(122) is set to ‘1’,
otherwise it is cleared to ‘0’.
 Values Description
Unit about 0.229 rpm All velocity related Data uses the same unit
Range 0 ~ 1,023 -
2. 4. 12. Temperature Limit(31)
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 13/34
This value limits operating temperature.
When the Present Temperature(146) that indicates internal
temperature of Dynamixel is greater than the Temperature
Limit(31), the Over Heating Error Bit(0x04) and Hardware Error
Bit(0x80) in the Hardware Error Status(70) will be set.
If Overheating Error Bit(0x04) is configured in the
Shutdown(63), Torque Enable(64) is cleared to ‘0’ and Torque
will be disabled.
For more details, please refer to the Shutdown(63) section.
Unit Value Range Description
About 1° 0 ~ 100 0 ~ 100°
Caution Do not set the temperature lower/higher than the
default value. When the temperature alarm shutdown occurs, wait
20 minutes to cool the temperature before re-use. Keep using the
product when the temperature is high can cause severe damage.
2. 4. 13. Min/Max Voltage Limit(32, 34)
These values are maximum and minimum operating voltages.
When current input voltage acquired from Present Input
Voltage(144) exceeds the range of Max Voltage Limit(32) and
Min Voltage Limit(34), Voltage Range Error Bit(0x01) and
Hardware Error Bit(0x80) in the Hardware Error Status(70) are
set. If Input Voltage Error Bit(0x10) is configured in the
Shutdown(63), Torque Enable(64) is cleared to ‘0’ and Torque
is disabled. For more details, please refer to the Shutdown(63)
section.
Unit Value Range Description
About 0.1V 95 ~ 160 9.5 ~ 16.0V
2. 4. 14. PWM Limit(36)
This value indicates maximum PWM output. Goal PWM(100)
can’t be configured with any values exceeding PWM Limit(36).
PWM Limit(36) is commonly used in all operating mode as an
output limit, therefore decreasing PWM output will result in
decreasing torque and velocity. For more details, please refer
to the Gain section of each operating modes.
Values Description
0(0%) ~ 885(100%) 885 = 100[%] output
2. 4. 15. Current Limit(38)
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 14/34
This value indicates maximum current(torque) output limit.
Goal Current(102) can’t be configured with any values
exceeding Current Limit(38). The Current Limit(38) is used in
Torque Control Mode and Current-based Position Control
Mode, therefore decreasing Current Limit(38) will result in
decreasing torque of DYNAMIXEL. For more details, please
refer to the Position PID Gain(80 ~ 84).
Unit Value Range
about 2.69[mA] 0 ~ 1,193
Note Current Limit(38) could be differ by each DYNAMIXEL so
please check the Control Table.
2. 4. 16. Acceleration Limit(40)
This value indicates maximum Profile Acceleration(108). Profile
Acceleration(108) can’t be configured with any values
exceeding Acceleration Limit(40). Profile Acceleration(108) is
used in all operating mode except PWM Control Mode in
order to generate a target trajectory. For more details, please
refer to the Profile Velocity(112).
Unit Value Range
214.577 Rev/min20 ~ 32,767
Note Bit information of the Error field in the Status Packet is
different from protocol 1.0 and protocol 2.0. This manual
complies with protocol 2.0. Please refer to the Protocol section
of e-Manual for more details about the protocol.
2. 4. 17. Velocity Limit(44)
This value indicates maximum velocity of Goal Velocity(104)
and Profile Velocity(112). For more details, please refer to the
Profile Velocity(112).
Unit Value Range
0.229rpm 0 ~ 1,023
2. 4. 18. Min/Max Position Limit(48, 52)
These values limit maximum and minimum target positions for
Position Control Mode(Joint Mode) within the range of 1
rotation(0 ~ 4,095). Therefore, Goal Position(116) should be
configured within the position limit range. These values are
not used in Extended Position Control Mode and Current-
based Position Control Mode.
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 15/34
Unit Value Range
0.088° 0 ~ 4,095(1 rotation)
Note Max Position Limit(48) and Min Position Limit(52) are only
used in Position Control Mode with a single turn.
2. 4. 19. Shutdown(63)
The Dynamixel can protect itself by detecting dangerous
situations that could occur during the operation.
Each Bit is inclusively processed with the ‘OR’ logic, therefore,
multiple options can be generated.
For instance, when ‘0x05’ (binary : 00000101) is defined as
Shutdown(63), Dynamixel can detect both Input Voltage
Error(binary : 00000001) and Overheating Error(binary :
00000100).
If those errors are detected, Torque Enable(64) is cleared to ‘0’
and the motor output becomes 0[%].
REBOOT is the only method to reset Torque Enable(64) to
‘1’(Torque ON) after the shutdown.
The followings are detectable situations.
Bit Item Description
Bit
7- Unused, Always ‘0’
Bit
6- Unused, Always ‘0’
Bit
5
Overload
Error(default)
Detect persistent load that exceeds maximum
output
Bit
4
Electrical Shock
Error(default)
Detect electric shock on the circuit or
insufficient power to operate the motor
Bit
3
Motor Encoder
Error Detect malfunction of the motor encoder
Bit
2
OverHeating
Error(default)
Detect internal temperature exceeds the
configured operating temperature
Bit
1- Unused, Always ‘0’
Bit
0
Input Voltage
Error
Detect input voltage exceeds the configured
operating voltage
Note If Shutdown occurs, use below method to reboot
Dynamixels.
1. H/W REBOOT : Turn off the power and turn on again
2. S/W REBOOT : Transmit REBOOT Instruction (For more
details, please refer to the [Reboot] section of Protocol e-
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 16/34
Manual.)
If Shutdown occurs, LED will flicker every second.(Firmware v41 or
above)
2. 4. 20. Torque Enable(64)
Controls Torque ON/OFF. Writing ‘1’ to this address will turn
on the Torque and all Data in the EEPROM area will be
protected.
Value Description
0(Default) Torque OFF(Free-run) and the motor does not generate
torque
1 Torque ON and all Data in the EEPROM area will be locked
Note Present Position(132) can be reset when Operating
Mode(11) and Torque Enable(64) are updated. For more details,
please refer to the Homing Offset(20) and Present Position(132).
2. 4. 21. LED(65)
Turn on or turn off the LED on Dynamixel.
Bit Description
0(Default) Turn OFF the LED
1 Turn ON the LED
2. 4. 22. Status Return Level(68)
This value decides how to return Status Packet when
Dynamixel receives an Instruction Packet.
Value Responding
Instructions Description
0 PING Instruction Status Packet will not be returned for all
Instructions
1PING Instruction
READ Instruction
Status Packet will be returned only for
READ Instruction
2 All Instructions Status Packet will be returned for all
Instructions
Note If the ID of Instruction Packet is set to Broad Cast ID(0xFE),
Status Packet will not be returned for READ and WRITE
Instructions regardless of Status Return Level. For more details,
please refer to the Status Packet section for Protocol 1.0 or
Protocol 2.0.
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 17/34
2. 4. 23. Registered Instruction(69)
Value Description
0 REG_WRITE instruction is not received
1 REG_WRITE instruction is received
Note If ACTION instruction is executed, the value will be changed
to 0.
2. 4. 24. Hardware Error Status(70)
This value indicates hardware error status. The Dynamixel can
protect itself by detecting dangerous situations that could
occur during the operation.
Each Bit is inclusively processed with the ‘OR’ logic, therefore,
multiple options can be generated.
For instance, when ‘0x05’ (binary : 00000101) is defined as
Shutdown(63), Dynamixel can detect both Input Voltage
Error(binary : 00000001) and Overheating Error(binary :
00000100).
If those errors are detected, Torque Enable(64) is cleared to ‘0’
and the motor output becomes 0[%].
REBOOT is the only method to reset Torque Enable(64) to
‘1’(Torque ON) after the shutdown.
The followings are detectable situations.
Bit Item Description
Bit
7- Unused, Always ‘0’
Bit
6- Unused, Always ‘0’
Bit
5
Overload
Error(default)
Detect persistent load that exceeds maximum
output
Bit
4
Electrical Shock
Error(default)
Detect electric shock on the circuit or
insufficient power to operate the motor
Bit
3
Motor Encoder
Error Detect malfunction of the motor encoder
Bit
2
OverHeating
Error(default)
Detect internal temperature exceeds the
configured operating temperature
Bit
1- Unused, Always ‘0’
Bit
0
Input Voltage
Error
Detect input voltage exceeds the configured
operating voltage
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 18/34
Note If Shutdown occurs, use below method to reboot
Dynamixels.
1. H/W REBOOT : Turn off the power and turn on again
2. S/W REBOOT : Transmit REBOOT Instruction (For more
details, please refer to the [Reboot] section of Protocol e-
Manual.)
If Shutdown occurs, LED will flicker every second.(Firmware v41 or
above)
2. 4. 25. Velocity PI Gain(76, 78)
These values indicate Gains of Velocity Control Mode. Gains of
DYNAMIXEL’s internal controller can be calculated from Gains
of the Control Table as shown below. The constant in each
equations include sampling time. Velocity P Gain of
DYNAMIXEL’s internal controller is abbreviated to KVP and
that of the Control Table is abbreviated to KVP(TBL).
Controller
Gain
Conversion
Equations Range Description
Velocity I
Gain(76) KVIKVI = KVI(TBL) /
65,536
0 ~
16,383 I Gain
Velocity P
Gain(78) KVPKVP = KVP(TBL) /
128
0 ~
16,383 P Gain
Below figure is a block diagram describing the velocity
controller in Velocity Control Mode. When the instruction
transmitted from the user is received by DYNAMIXEL, it takes
following steps until driving the horn.
1. An Instruction from the user is transmitted via DYNAMIXEL
bus, then registered to Goal Velocity(104).
2. Goal Velocity(104) is converted to target velocity trajectory
by Profile Acceleration(108).
3. The target velocity trajectory is stored at Velocity
Trajectory(136).
4. PI controller calculates PWM output for the motor based
on the target velocity trajectory.
5. Goal PWM(100) sets a limit on the calculated PWM output
and decides the final PWM value.
6. The final PWM value is applied to the motor through an
Inverter, and the horn of DYNAMIXEL is driven.
7. Results are stored at Present Position(132), Present
Velocity(128), Present PWM(124) and Present Current(126).
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 19/34
Note Ka stands for Anti-windup Gain and ‘β’ is a conversion
coefficient of position and velocity that cannot be modified by
users. For more details about the PID controller, please refer to
the PID Controller at wikipedia.
2. 4. 26. Position PID Gain(80, 82, 84), Feedforward 1st/2nd
Gains(88, 90)
These Gains are used in Position Control Mode and Extended
Position Control Mode. Gains of Dynamixel’s internal
controller can be calculated from Gains of the Control Table as
shown below. The constant in each equations include
sampling time. Position P Gain of Dynamixel’s internal
controller is abbreviated to KPP and that of the Control Table
is abbreviated to KPP(TBL).
Controller
Gain
Conversion
Equations Range Description
Position D
Gain(80) KPDKPD = KPD(TBL) / 16
0 ~
16,383 D Gain
Position I
Gain(82) KPIKPI = KPI(TBL)
/ 65,536
0 ~
16,383 I Gain
Position P
Gain(84) KPP
KPP =
KPP(TBL) /
128
0 ~
16,383 P Gain
Feedforward
2nd Gain(88) KFF2nd
KFF2nd(TBL) /
4
0 ~
16,383
Feedforward
Acceleration
Gain
Feedforward
1st Gain(90) KFF1st
KFF1st(TBL) /
4
0 ~
16,383
Feedforward
Velocity Gain
Below figure is a block diagram describing the position
controller in Position Control Mode and Extended Position
Control Mode. When the instruction from the user is received
by Dynamixel, it takes following steps until driving the horn.
1. An Instruction from the user is transmitted via Dynamixel
bus, then registered to Goal Position(116).
XM430-W210
Back to Top ▲

2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 20/34
2. Goal Position(116) is converted to target position trajectory
and target velocity trajectory by Profile Velocity(112) and
Profile Acceleration(108).
3. The target position trajectory and target velocity trajectory
is stored at Position Trajectory(140) and Velocity
Trajectory(136) respectively.
4. Feedforward and PID controller calculate PWM output for
the motor based on target trajectories.
5. Goal PWM(100) sets a limit on the calculated PWM output
and decides the final PWM value.
6. The final PWM value is applied to the motor through an
Inverter, and the horn of Dynamixel is driven.
7. Results are stored at Present Position(132), Present
Velocity(128), Present PWM(124) and Present Current(126).
Note In case of PWM Control Mode, both PID controller and
Feedforward controller are deactivated while Goal PWM(100)
value is directly controlling the motor through an Inverter. In this
manner, users can directly control the supplying voltage to the
motor.
Note Ka is an Anti-windup Gain that cannot be modified by
users.
Below figure is a block diagram describing the current-based
position controller in Current-based Position Control Mode. As
Current-based Position Control Mode is quite similar to
Position Control Mode, differences will be focused in the
following steps. The differences are highlighted with a green
marker in the block diagram as well.
1. Feedforward and PID controller calculates target current
based on target trajectory.
2. Goal Current(102) decides the final target current by
setting a limit on the calculated target current.
3. Current controller calculates PWM output for the motor
based on the final target current.
XM430-W210
Back to Top ▲