Move xc430 in wheel or joint mode

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1

Greetings

What parameters should I put in the instruction packet to control XC430 in wheel mode or joint mode

2

Documentation on the structure of Write packets for DYNAMXIEL control is available on ROBOTIS official eManual page.

3

Sorry but I didn’t get results from that
Can you please give the instruction packet for this task

4

I have never used RAW PACKETS myself, so I don’t know if my post will help you or not. But to switch your XC-430 from Position Control to Wheel Mode needs 3 packets not just ONE as your question seemed to imply:

Step 1: TORQUE DISABLE by writing 0 to Address 64.

Step 2: Set OPERATING MODE (Address 11) to 1 to get Wheel Mode.

Step 3: REENABLE TORQUE by writing 1 to Address 64. To lock up the new setting in EEPROM.

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5

Please check the list below

  1. Run your dynamixel with U2D2(Link) and Wizard2.0(Link, Quick Start Video)
    Wizard2.0 supports Windows, Linux, MacOS
  2. Wheel motion sequence
    1. Operating mode : Velocity control mode(Link)
    2. Torque Enable : Torque On(Link)
    3. Gola Velocity : Set your desired speed value(Link)
  3. Packet design using Wizard2.0(Link)
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