I would like to know the data measurement location for the XM430-W350-T (e.g., Present Current)

Technical Support
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1

Issue:

Hello,

I am currently using the XM430-W350-T. As far as I know, the Dynamixel Wizard 2.0 and Dynamixel SDK allow access to various information such as Present Current, Present Position, etc.

Where exactly on the motor are the values for Present Current, Present Position, and Present Velocity measured?

When examining the interior of the XM430-W350-T, I see that the motor is located beneath the external rotating shaft (Horn) and that power is transmitted upward to the Horn through a spur gear. Given this structure, do the values for Present Current, Present Position, and Present Velocity represent measurements taken at the motor’s shaft below, or are they measured at the external rotating shaft (Horn)?

image

2

The contactless encoder on our X series DYNAMIXEL servos is mounted directly beneath the output horn, and measures the current position corresponding to the larger blue circle in your diagram.

3

Thank you. May I ask one more question?

Then, where is the current measured?

I am currently using the OpenCR 1.0. Is the Present Current measured on the OpenCR 1.0, or is it measured on the Dynamixel?

I think it’s also important where the Present Current is measured due to the cable’s resistance.

4

Present current is measured at the DYNAMIXEL itself, and accurately reflects the total current draw of the actuator.