programing XM430-W350-R python Current-based Position Control Mode

[barak720]

1. Which DYNAMIXEL SDK version do you use? DynamixelSDK-3.7.31

2. Which programming language/tool do you use? Python

3. Which operating system do you use? Windows

4. Which USB serial converter do you use? U2D2

5. Which DYNAMIXEL do you use? XM-430-W350-R

Dear all, I'm new to python and Dynamixel. I bought XM430-W350 to use it in the Current-based Position Control Mode. I looked for the syntacs to use this mode through the SDK test libary, github and generally online, Unfortunately I havn't found a simple Dynamixel SDK code that uses this mode. Is there any exaple code for that, lists of syntacs? thanks in advance.

[ROBOTIS-Will]

Hi @barak720,

First of all, the Operating Mode of DYNAMIXEL can be easily configured with DYNAMIXEL Wizard 2.0 which is a recommended GUI tool for managing and testing DYNAMIXEL. Using this tool will help you to understand better about the control table of DYNAMIXEL.

The Operating Mode of XM430-W350 can be updated by writing a value to the control table address 11, and in your case, you can write 5 to configure as Current-based Position Control Mode.

The Current-based Position Control Mode is similar to the Position Control Mode, but supports additional current controller.

If you are trying to write a python code to configure a DYNAMIXEL to run with desired control mode, you may add below code in the read_write.py example before enabling DYNAMIXEL Torque in line 143.

# Set Current-based Position Control mode
# Modifying EEPROM area value should be done before enabling DYNAMIXEL torque.
# Address of Operating Mode : 11
# Current-based Position Control mode value : 5
dxl_comm_result, dxl_error = packetHandler.write1ByteTxRx(portHandler, DXL_ID, 11, 5)
if dxl_comm_result != COMM_SUCCESS:
    print("%s" % packetHandler.getTxRxResult(dxl_comm_result))
elif dxl_error != 0:
    print("%s" % packetHandler.getRxPacketError(dxl_error))
else:
    print("DYNAMIXEL has been successfully configured as Current-based Position Control Mode.")

[barak720]

Hi @ROBOTIS-Will thank you for your reply and sorry for my late one. The mode works

Thanks alot!