It might be confusing with a self-study without DYNAMIXEL Wizard 2.0
Here is an option you can select with Drive Mode(10)
#1 [0] Velocity-based Profile: Create a Profile based on Velocity
Literally, Velocity-based Profile option determines velocity in Position Mode. Higher number is, the velocity in motion increase. (Ignore the term of range 0 to 32767. This is just range of number you can set, but all range would not be used).
In this case, the Velocify-based Profile in Profile Velocity(112) can be referred to. Per value (Unit) increase the 0.229 rev/min according to the table below. For example, If the Profile Velocity(112) is 10, the velocity in motion would be 0.229 * 10 = 2.29 rev/min
| Velocity-based Profile | Values | Description |
|---|---|---|
| Unit | 0.229 [rev/min] | Sets velocity of the Profile |
| Range | 0 ~ 32767 | ‘0’ represents an infinite velocity |
#2. [1] Time-based Profile: Create Profile based on time
Unlikely the Velocity-based Profile, this allow DYNAMIXEL to reach the Goal Position in set time.
| Time-based Profile | Values | Description |
|---|---|---|
| Unit | 1 [msec] | Sets the time span for the Profile |
| Range | 0 ~ 32737 | ‘0’ represents an infinite velocity. |
| For instance, when it’s set 5000, the movement is done around 5s theoretically. |
Be aware that applicable range of value can differ depending on the specification of DYNAMIXEL