dynamixel speed/ pose speed/ motion speed

[freeforall]

hello,

I'm wondering how I can calculate the real speed of a dynamixel given that I know the speed of a motion and a pose (in the motion editor). More clearly, if I have for example the motion speed set at 160 and the pose speed set at 20, how could I calculate the 18 dynamixels' speed of the pose.

thank you.

[Bullit]

The overall time to move from one pose to another is controlled by the pose speed, page speed, the delay time and the greatest distance any servo has to move.

E = pose speed
G = page speed
D = delay time (I think a delay setting of 1 gives 7ms, 2 = 14ms etc...)
M = max servo steps to complete move
C = constant
T = total time

T = C*E*G*M+D

C would be relative to the speed of the AX-12

[freeforall]

but how can I determine the C constant. is there any way to know the speed of the ax-12?
for example, is it possible to launch a motion and then check the speed of an AX-12 with the terminal?

thank you.