Speed of AX-18A

Technical Support
1

Hello everyone !
I plan using AX-18A for my project because I saw its Torque and Speed are available to my calculation. But when I read the manual, I didn’t see any talking about its Speed in Joint Mode. For example, AX-12W takes 470rpm for Wheel Mode and 54rpm for Joint mode. However, AX-18A’s manual does not mention about those things.
Hope anyone who knows this help me making up my mind about this issue !
Thank you very much!

2

Is this what you were looking for?

AX-18A_MovingSpeed

3

Thank you for your reply. Actually, I saw it but didn’t have any sure because when I took a look at AX-12W’s manual, it also has exactly the same lines as that of AX-18A (although AX-12W just only achieves 54rpm in joint mode). For introduction, AX-18A has max speed at 97rpm, but at which mode ?

4

Please reread the information that ROBOTIS already provided for Parameter Moving Speed (see my previous post). But perhaps it is too concise for you, so let me try to expand this provided information further.

When you put an AX-18A into Joint Mode and you tell it to go to a new Goal Position A, it can go there at different speeds controlled by what value you assign to Parameter Moving Speed:

  1. If you use 0, this is equivalent to ON/OFF control, the embedded MCU on the AX-18A will provide maximum current to the motor at start, therefore maximum and uncontrolled speed to start going to A, and when it is close enough to A, it switches the current off. This option provides very jerky motion to the AX-18A and consequently lots of vibrations and the least accurate goal-position wise.

  2. If you use a number between 1 and 1023 for Moving Speed which has a unit equivalent to 0.111 rpm. For example, if you use 100 which is equivalent to 11.1 rpm, this means that the embedded MCU will start the motor gradually from rest to a maximum and steady speed of 11.1 rpm during the horn’s travel to Position A. Also, it will apply all the Compliance Margins and Slopes parameters to make a smoother and more accurate stop for Goal Position A.

So, what is the RPM value that you are looking for? As the maximum value for Moving Speed is 1023, the AX-18A cannot go faster than 114 rpm when it is in Joint Mode.