diff --git a/_data/navigation.yml b/_data/navigation.yml index 7baccf9c3..379c2240c 100644 --- a/_data/navigation.yml +++ b/_data/navigation.yml @@ -19064,7 +19064,7 @@ ym070-210-m001-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym070-210-m001-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym070-210-m001-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" @@ -19397,7 +19397,7 @@ ym070-210-b001-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym070-210-b001-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym070-210-b001-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" @@ -19730,7 +19730,7 @@ ym070-210-r051-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym070-210-r051-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym070-210-r051-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" @@ -20067,7 +20067,7 @@ ym070-210-r099-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym070-210-r099-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym070-210-r099-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" @@ -20404,7 +20404,7 @@ ym070-210-a051-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym070-210-a051-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym070-210-a051-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" @@ -20741,7 +20741,7 @@ ym070-210-a099-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym070-210-a099-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym070-210-a099-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" @@ -21078,7 +21078,7 @@ ym080-230-m001-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym080-230-m001-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym080-230-m001-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" @@ -21411,7 +21411,7 @@ ym080-230-b001-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym080-230-b001-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym080-230-b001-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" @@ -21744,7 +21744,7 @@ ym080-230-r051-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym080-230-r051-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym080-230-r051-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" @@ -22081,7 +22081,7 @@ ym080-230-r099-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym080-230-r099-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym080-230-r099-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" @@ -22418,7 +22418,7 @@ ym080-230-a051-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym080-230-a051-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym080-230-a051-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" @@ -22755,7 +22755,7 @@ ym080-230-a099-rh: - title: "Backup Ready(919)" titlekr: "Backup Ready(919)" url: /dxl/y/ym080-230-a099-rh/#backup-ready919 - - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)" + - title: "Factory Reset, Reboot, Clear Instruction (Modbus)" titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)" url: /dxl/y/ym080-230-a099-rh/#factory-reset-reboot-clear-instruction-modbus - title: "How to Assemble" diff --git a/_includes/en/dxl/warning.md b/_includes/en/dxl/warning.md index 6c62c0cdf..7e4a36e75 100644 --- a/_includes/en/dxl/warning.md +++ b/_includes/en/dxl/warning.md @@ -39,7 +39,10 @@ ![](/assets/images/icon_warning.png) **CAUTION** (May cause injury or damage to product) -{% if page.product_group=='dxl_xw540' or page.product_group=='dxl_xw430' %} - Comply with the operating environment. (Depth 1 m, 24 hr in normal fresh water) {% elsif page.product_group=='opencm904' or page.product_group=='ln-101' or page.product_group=='u2d2' or page.product_group=='u2d2_power_hub' or page.product_group=='dynamixel_shield' or page.product_group=='cm-50' or page.product_group=='openrb-150' or page.product_group=='opencm485exp' %} {% else %} - Always comply with operating environment specifications including voltage, current, and temperature. {% endif %} +{% if page.product_group=='dxl_xw540' or page.product_group=='dxl_xw430' %} - Comply with the operating environment. (Depth 1 m, 24 hr in normal fresh water) +- Do not pull the rubber cap of the connector. +- The rubber cap is connected to the rubber packing, and any deformation may cause leakage. +- the rubber cap is designed for dust protection and is not waterproof. When using underwater, please connect a waterproof cable.{% elsif page.product_group=='opencm904' or page.product_group=='ln-101' or page.product_group=='u2d2' or page.product_group=='u2d2_power_hub' or page.product_group=='dynamixel_shield' or page.product_group=='cm-50' or page.product_group=='openrb-150' or page.product_group=='opencm485exp' %} {% else %} - Always comply with operating environment specifications including voltage, current, and temperature. {% endif %} - Do not insert blades or other sharp objects during product operation. {% endcapture %}
{{ dxl_caution | markdownify }}
diff --git a/_includes/en/dxl/y/clear_packet.md b/_includes/en/dxl/y/clear_packet.md index d7936b746..fd160377c 100644 --- a/_includes/en/dxl/y/clear_packet.md +++ b/_includes/en/dxl/y/clear_packet.md @@ -44,7 +44,7 @@ DYNAMIXEL-Y features an internal Multi-turn Backup Battery for Multi-turn Positi Tools → Encoder Battery Replacement menu. 3. In the case of a model with an included reducer, ensure that the reducer is positioned at it's origin point. (Position 0) 4. Open the battery cover, install the new Multi-turn Backup Battery, close the cover, and click the Next button. -5. Wait for the operation to complete. +5. Set the multi-turn encoder mode. Note that a higher allowable angular acceleration will decrease battery life. Please set an appropriate value for your system. 6. Once finished, exit the menu by clicking the OK button. 7. Reset the Multi-turn to its initial state by sending the [Multi-turn Clear Packet](#multi-turn-clear-packet). diff --git a/_includes/en/dxl/y/connector_y070.md b/_includes/en/dxl/y/connector_y070.md index eadd0447e..b1f9b8ace 100644 --- a/_includes/en/dxl/y/connector_y070.md +++ b/_includes/en/dxl/y/connector_y070.md @@ -9,4 +9,10 @@ | Wire Specification | 26 AWG | | 20 AWG | | **Caution**: Before operation, ensure that 24V power is supplied through the power port. During setup, take special care to ensure that the polarity of all connections are correct. Incorrect connection may result in serious damage to the DYNAMIXEL. -{: .notice--warning} \ No newline at end of file +{: .notice--warning} + +**Note**: DYNAMIXEL-Y uses a new connector to enhance the utility of its hollow structure and ensure stable current supply and communication. The JST connector used in existing DYNAMIXEL models cannot reliably supply the current required to operate DYNAMIXEL-Y. Therefore, it is essential to use the designated connector. +{: .notice} + +**Note**: If communication between DYNAMIXEL-Y and U2D2 is unstable, please connect the GND of the power line to the GND of the U2D2. +{: .notice} \ No newline at end of file diff --git a/_includes/en/dxl/y/connector_y080.md b/_includes/en/dxl/y/connector_y080.md index 32aa84615..8abfafa39 100644 --- a/_includes/en/dxl/y/connector_y080.md +++ b/_includes/en/dxl/y/connector_y080.md @@ -10,3 +10,9 @@ **Caution**: Before operation, ensure that 24V power is supplied through the power port. During setup, take special care to ensure that the polarity of all connections are correct. Incorrect connection may result in serious damage to the DYNAMIXEL. {: .notice--warning} + +**Note**: DYNAMIXEL-Y uses a new connector to enhance the utility of its hollow structure and ensure stable current supply and communication. The JST connector used in existing DYNAMIXEL models cannot reliably supply the current required to operate DYNAMIXEL-Y. Therefore, it is essential to use the designated connector. +{: .notice} + +**Note**: If communication between DYNAMIXEL-Y and U2D2 is unstable, please connect the GND of the power line to the GND of the U2D2. +{: .notice} \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_0_model_number.md b/_includes/en/dxl/y/control_table_0_model_number.md index e4e85966b..7ed07e816 100644 --- a/_includes/en/dxl/y/control_table_0_model_number.md +++ b/_includes/en/dxl/y/control_table_0_model_number.md @@ -1 +1,7 @@ -The model number of the DYNAMIXEL actuator. +The model number of DYNAMIXEL indicates the protocol type. If the last digit of the model number is 0, it supports the DYNAMIXEL Protocol 2.0. If it is 1, it supports the Modbus Protocol. The protocol can be changed by [firmware recovery](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/#firmware-recovery) to the corresponding protocol via the DYNAMIXEL Wizard 2.0 software. The following example demonstrates the model number and protocol information for the YM070-210-M001-RH model. + +***Example)*** + +| Model | Model Number | Description | +| :---------------: | :----------: | :---------------------------------------------- | +| YM070-210-M001-RH | 4000
4001 | Dynamixel Protocol 2.0 FW
Modbus Protocol FW | \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md b/_includes/en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md index fa2e32c21..77f7cf574 100644 --- a/_includes/en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md +++ b/_includes/en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md @@ -18,5 +18,5 @@ Re: Electronic Gear Ratio R: Actual Gear Ratio L: Ball Screw Lead | System Form | Setting Unit | Description | |:----------------------------------:|:-------------:|:----------------------------------------| | Direct Drive System | 0.01 [deg] | DYNAMIXEL-Y Resolution: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_2.jpg) | -| Gearbox Attachment
R = 100:1 | 0.01 [deg] | DYNAMIXEL-Y Resolution: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_2.jpg) | -| Ball Screw System
L: 10mm/rev | 0.01 [mm] | DYNAMIXEL-Y Resolution: 524,288

![](/assets/images/dxl/y/dy_equation_3.jpg) | +| Gearbox Attachment
R = 100:1 | 0.01 [deg] | DYNAMIXEL-Y Resolution: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_3.jpg) | +| Ball Screw System
L: 10mm/rev | 0.01 [mm] | DYNAMIXEL-Y Pulse per 1Rev = 524,288
Resolution of DYNAMIXEL-Y: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_4.jpg) | diff --git a/_includes/en/dxl/y/factory_reset_reboot_clear_instruction.md b/_includes/en/dxl/y/factory_reset_reboot_clear_instruction.md new file mode 100644 index 000000000..d6d2654a7 --- /dev/null +++ b/_includes/en/dxl/y/factory_reset_reboot_clear_instruction.md @@ -0,0 +1,9 @@ +This section pertains to the commands for requesting Factory Reset, Reboot, and Clear functions within a Modbus Protocol firmware. +These commands are not supported by the standard firmware. Below is a detailed explanation of each command, including its value range and description. + + +| Modbus Address | Name | Value range, descirption | +| :------------: | :-----------------------: | :----------------------------------------------------------------------------------------- | +| 41001 | Factory Reset Instruction | 0x00FF (255): Initialize all values
0x0001 (1): Initialize all values except for the ID | +| 41002 | Reboot Instruction | Writing any value will cause a reboot | +| 41003 | Clear Instruction | 0x0100 (256): MT Initialization
0x0200 (512): Error Clear | diff --git a/_includes/en/dxl/y/y_warning.md b/_includes/en/dxl/y/y_warning.md index 394874f75..d9378b920 100644 --- a/_includes/en/dxl/y/y_warning.md +++ b/_includes/en/dxl/y/y_warning.md @@ -45,6 +45,17 @@ {% endcapture %}
{{ dxl_caution | markdownify }}
+{% capture dxl_caution %} +![](/assets/images/icon_warning.png) +**Warning** +(May cause injury or damage to the product.) +- Due to the material properties, rust may occur depending on the user environment. +- Repairs due to rust may incur costs, so please refer to the following guidelines to prevent rust. +- Please take steps to reduce humidity and improve ventilation. +- Salt removal and anti-corrosion treatment should be performed on a regular basis. +{% endcapture %} +
{{ dxl_caution | markdownify }}
+ {% capture guarantee %} **Warranty Coverage** - This product is covered under warranty for 1 year after the purchase date for usage under normal operating conditions. diff --git a/_includes/kr/dxl/y/clear_packet.md b/_includes/kr/dxl/y/clear_packet.md index cba2d36b0..69dd47ab3 100644 --- a/_includes/kr/dxl/y/clear_packet.md +++ b/_includes/kr/dxl/y/clear_packet.md @@ -46,7 +46,7 @@ DYNAMIXEL-Y는 Multi-turn Backup을 위해 배터리가 내장되어 있습니 3. 감속기 모델인 경우는 원점 위치가 일치하는지 확인하고 다음 버튼을 클릭합니다. (원점위치가 아닌 경우, 원점 위치로 맞춰주세요.) 4. 배터리 커버를 열어서 새 배터리로 교체하고, 커버를 닫고 다음 버튼을 클릭합니다. -5. 작업 진행을 기다립니다. +5. 멀티턴 엔코더 모드를 설정합니다. 허용 각가속도가 커질수록 배터리 수명이 감소합니다. 시스템에 맞는 적절한 값으로 설정하시기 바랍니다. 6. 작업이 완료되고 확인 버튼을 클릭하여 메뉴를 끝냅니다. 7. [Multi-turn Clear Packet](#multi-turn-clear-packet)을 통하여 Multi-turn을 초기화 시켜줍니다. diff --git a/_includes/kr/dxl/y/control_table_96_electronic_gear_ratio_numerator.md b/_includes/kr/dxl/y/control_table_96_electronic_gear_ratio_numerator.md index cc9a64195..9b243e75e 100644 --- a/_includes/kr/dxl/y/control_table_96_electronic_gear_ratio_numerator.md +++ b/_includes/kr/dxl/y/control_table_96_electronic_gear_ratio_numerator.md @@ -14,5 +14,5 @@ Re: 전자 기어비 R: 실제 기어비 L: 볼스크류 리드 | 시스템 형태 | 설정 단위 | 설명 | |:-------------------------------:|:-----------:|:--------------------------------| | Direct Drive 시스템 | 0.01 [deg] | Dynamixel-Y의 분해능: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_2.jpg) | -| 감속기 부착 시스템
R = 100:1 | 0.01 [deg] | Dynamixel-Y의 분해능: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_2.jpg) | -| 볼스크류 시스템
L: 10mm/rev | 0.01 [mm] | Dynamixel-Y 1Rev당 Pulse = 524,288
Dynamixel-Y의 분해능: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_3.jpg) | +| 감속기 부착 시스템
R = 100:1 | 0.01 [deg] | Dynamixel-Y의 분해능: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_3.jpg) | +| 볼스크류 시스템
L: 10mm/rev | 0.01 [mm] | Dynamixel-Y 1Rev당 Pulse = 524,288
Dynamixel-Y의 분해능: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_4.jpg) | diff --git a/assets/images/dxl/y/dy_equation_3.jpg b/assets/images/dxl/y/dy_equation_3.jpg index 32ff1ac57..1c198fe5e 100644 Binary files a/assets/images/dxl/y/dy_equation_3.jpg and b/assets/images/dxl/y/dy_equation_3.jpg differ diff --git a/assets/images/dxl/y/dy_equation_4.jpg b/assets/images/dxl/y/dy_equation_4.jpg new file mode 100644 index 000000000..32ff1ac57 Binary files /dev/null and b/assets/images/dxl/y/dy_equation_4.jpg differ diff --git a/docs/en/dxl/y/ym070-210-a051-rh.md b/docs/en/dxl/y/ym070-210-a051-rh.md index 13cb16fc0..a027cd531 100644 --- a/docs/en/dxl/y/ym070-210-a051-rh.md +++ b/docs/en/dxl/y/ym070-210-a051-rh.md @@ -36,100 +36,102 @@ product_group: dxl_y_a ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Area | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,040 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 755,294 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 12,592 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 313 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | - +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,040
4,0411) | 4,040 **(Dynamixel Protocol 2.0)**
4,041 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 755,294 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 12,592 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 313 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +234,17 @@ product_group: dxl_y_a {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 755,294 | +| Unit | Range | +| :-----------: | :---------: | +| 10 [rev/min²] | 0 ~ 755,294 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:--------------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 12,592 | 1,000 = Maximum speed limited to 10[RPM]
12,592 = Maximum speed limited to 125.92[RPM] | +| Unit | Range | Description | +| :-------: | :--------: | :-----------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 12,592 | 1,000 = Maximum speed limited to 10[RPM]
12,592 = Maximum speed limited to 125.92[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +398,10 @@ product_group: dxl_y_a {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/en/dxl/y/ym070-210-a099-rh.md b/docs/en/dxl/y/ym070-210-a099-rh.md index 2dee4bebe..91db918ef 100644 --- a/docs/en/dxl/y/ym070-210-a099-rh.md +++ b/docs/en/dxl/y/ym070-210-a099-rh.md @@ -36,99 +36,102 @@ product_group: dxl_y_a ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,050 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 161 | 0 ~ 389,090 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 2,020 | 0 ~ 6,486 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 161 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,050
4,0511) | 4,050 **(Dynamixel Protocol 2.0)**
4,051 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 161 | 0 ~ 389,090 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 2,020 | 0 ~ 6,486 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 161 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +235,17 @@ product_group: dxl_y_a {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 389,090 | +| Unit | Range | +| :-----------: | :---------: | +| 10 [rev/min²] | 0 ~ 389,090 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:------------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 6,486 | 1,000 = Maximum speed limited to 10[RPM]
6,486 = Maximum speed limited to 64.86[RPM] | +| Unit | Range | Description | +| :-------: | :-------: | :---------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 6,486 | 1,000 = Maximum speed limited to 10[RPM]
6,486 = Maximum speed limited to 64.86[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +399,10 @@ product_group: dxl_y_a {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/en/dxl/y/ym070-210-b001-rh.md b/docs/en/dxl/y/ym070-210-b001-rh.md index d01ec114e..35e8c5419 100644 --- a/docs/en/dxl/y/ym070-210-b001-rh.md +++ b/docs/en/dxl/y/ym070-210-b001-rh.md @@ -36,99 +36,102 @@ product_group: dxl_y_b ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Area | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,010 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 44,000 | 0 ~ 38,520,000 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 550,000 | 0 ~ 642,200 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 44,000 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 550,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,010
4,0111) | 4,010 **(Dynamixel Protocol 2.0)**
4,011 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 44,000 | 0 ~ 38,520,000 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 550,000 | 0 ~ 642,200 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 44,000 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 550,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +235,17 @@ product_group: dxl_y_b {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 38,748,000 | +| Unit | Range | +| :-----------: | :------------: | +| 10 [rev/min²] | 0 ~ 38,748,000 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:------------------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 642,200 | 100,000 = Maximum speed limited to 1,000[RPM]
642,200 = Maximum speed limited to 6,422[RPM] | +| Unit | Range | Description | +| :-------: | :---------: | :----------------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 642,200 | 100,000 = Maximum speed limited to 1,000[RPM]
642,200 = Maximum speed limited to 6,422[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +399,10 @@ product_group: dxl_y_b {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/en/dxl/y/ym070-210-m001-rh.md b/docs/en/dxl/y/ym070-210-m001-rh.md index 6773261e6..5774d656c 100644 --- a/docs/en/dxl/y/ym070-210-m001-rh.md +++ b/docs/en/dxl/y/ym070-210-m001-rh.md @@ -36,100 +36,102 @@ product_group: dxl_y_m ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Area | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,000 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 2 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 44,000 | 0 ~ 38,520,000 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 550,000 | 0 ~ 642,200 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 44,000 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 550,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | - +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,000
4,0011) | 4,000 **(Dynamixel Protocol 2.0)**
4,001 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 44,000 | 0 ~ 38,520,000 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 550,000 | 0 ~ 642,200 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 44,000 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 550,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +234,17 @@ product_group: dxl_y_m {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 38,748,000 | +| Unit | Range | +| :-----------: | :------------: | +| 10 [rev/min²] | 0 ~ 38,748,000 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:------------------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 642,200 | 100,000 = Maximum speed limited to 1,000[RPM]
642,200 = Maximum speed limited to 6,422[RPM] | +| Unit | Range | Description | +| :-------: | :---------: | :----------------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 642,200 | 100,000 = Maximum speed limited to 1,000[RPM]
642,200 = Maximum speed limited to 6,422[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +398,10 @@ product_group: dxl_y_m {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/en/dxl/y/ym070-210-r051-rh.md b/docs/en/dxl/y/ym070-210-r051-rh.md index 5e9f7136b..397066bc7 100644 --- a/docs/en/dxl/y/ym070-210-r051-rh.md +++ b/docs/en/dxl/y/ym070-210-r051-rh.md @@ -36,99 +36,102 @@ product_group: dxl_y_r ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Area | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,020 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 2 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 755,294 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 12,592 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 313 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,020
4,0211) | 4,020 **(Dynamixel Protocol 2.0)**
4,021 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 755,294 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 12,592 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 313 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +235,17 @@ product_group: dxl_y_r {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 755,294 | +| Unit | Range | +| :-----------: | :---------: | +| 10 [rev/min²] | 0 ~ 755,294 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:--------------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 12,592 | 1,000 = Maximum speed limited to 10[RPM]
12,592 = Maximum speed limited to 125.92[RPM] | +| Unit | Range | Description | +| :-------: | :--------: | :-----------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 12,592 | 1,000 = Maximum speed limited to 10[RPM]
12,592 = Maximum speed limited to 125.92[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +399,10 @@ product_group: dxl_y_r {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/en/dxl/y/ym070-210-r099-rh.md b/docs/en/dxl/y/ym070-210-r099-rh.md index b69dd316c..b20b03665 100644 --- a/docs/en/dxl/y/ym070-210-r099-rh.md +++ b/docs/en/dxl/y/ym070-210-r099-rh.md @@ -36,100 +36,102 @@ product_group: dxl_y_r ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,030 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 2 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 161 | 0 ~ 389,090 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 2,020 | 0 ~ 6,486 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 161 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | - +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,030
4,0311) | 4,030 **(Dynamixel Protocol 2.0)**
4,031 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 161 | 0 ~ 389,090 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 2,020 | 0 ~ 6,486 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 161 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +234,17 @@ product_group: dxl_y_r {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 389,090 | +| Unit | Range | +| :-----------: | :---------: | +| 10 [rev/min²] | 0 ~ 389,090 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:------------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 6,486 | 1,000 = Maximum speed limited to 10[RPM]
6,486 = Maximum speed limited to 64.86[RPM] | +| Unit | Range | Description | +| :-------: | :-------: | :---------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 6,486 | 1,000 = Maximum speed limited to 10[RPM]
6,486 = Maximum speed limited to 64.86[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +398,10 @@ product_group: dxl_y_r {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/en/dxl/y/ym080-230-a051-rh.md b/docs/en/dxl/y/ym080-230-a051-rh.md index 41354d2ad..4dd46c6a6 100644 --- a/docs/en/dxl/y/ym080-230-a051-rh.md +++ b/docs/en/dxl/y/ym080-230-a051-rh.md @@ -36,100 +36,102 @@ product_group: dxl_y_a ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,160 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 418,352 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 6,972 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 313 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | - +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,160
4,1611) | 4,160 **(Dynamixel Protocol 2.0)**
4,161 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 21,336,000 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 355,600 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 313 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +234,17 @@ product_group: dxl_y_a {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 418,352 | +| Unit | Range | +| :-----------: | :---------: | +| 10 [rev/min²] | 0 ~ 418,352 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:-----------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | +| Unit | Range | Description | +| :-------: | :-------: | :---------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +398,10 @@ product_group: dxl_y_a {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/en/dxl/y/ym080-230-a099-rh.md b/docs/en/dxl/y/ym080-230-a099-rh.md index 338a9bb19..2abe7c4c3 100644 --- a/docs/en/dxl/y/ym080-230-a099-rh.md +++ b/docs/en/dxl/y/ym080-230-a099-rh.md @@ -36,100 +36,102 @@ product_group: dxl_y_a ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,170 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 161 | 0 ~ 215,515 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 2,020 | 0 ~ 3,591 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Saveve](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 161 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | - +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,170
4,1711) | 4,170 **(Dynamixel Protocol 2.0)**
4,171 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 161 | 0 ~ 215,515 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 2,020 | 0 ~ 3,591 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 161 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +234,17 @@ product_group: dxl_y_a {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 418,352 | +| Unit | Range | +| :-----------: | :---------: | +| 10 [rev/min²] | 0 ~ 418,352 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:-----------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | +| Unit | Range | Description | +| :-------: | :-------: | :---------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +398,10 @@ product_group: dxl_y_a {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/en/dxl/y/ym080-230-b001-rh.md b/docs/en/dxl/y/ym080-230-b001-rh.md index 4b037cf77..fc5bc8178 100644 --- a/docs/en/dxl/y/ym080-230-b001-rh.md +++ b/docs/en/dxl/y/ym080-230-b001-rh.md @@ -36,100 +36,102 @@ product_group: dxl_y_b ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,130 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 24,800 | 0 ~ 21,336,000 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 310,000 | 0 ~ 355,600 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 24,800 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 310,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | - +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,130
4,1311) | 4,130 **(Dynamixel Protocol 2.0)**
4,131 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 24,800 | 0 ~ 21,336,000 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 310,000 | 0 ~ 355,600 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 20 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 30 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 24,800 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 310,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +234,17 @@ product_group: dxl_y_b {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 21,336,000 | +| Unit | Range | +| :-----------: | :------------: | +| 10 [rev/min²] | 0 ~ 21,336,000 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:------------------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 355,600 | 100,000 = Maximum speed limited to 1,000[RPM]
642,200 = Maximum speed limited to 6,422[RPM] | +| Unit | Range | Description | +| :-------: | :---------: | :----------------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 355,600 | 100,000 = Maximum speed limited to 1,000[RPM]
642,200 = Maximum speed limited to 6,422[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +398,10 @@ product_group: dxl_y_b {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/en/dxl/y/ym080-230-m001-rh.md b/docs/en/dxl/y/ym080-230-m001-rh.md index 4c13bd716..e08ae3eee 100644 --- a/docs/en/dxl/y/ym080-230-m001-rh.md +++ b/docs/en/dxl/y/ym080-230-m001-rh.md @@ -36,100 +36,102 @@ product_group: dxl_y_m ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,120 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 2 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 24,800 | 0 ~ 21,336,000 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 310,000 | 0 ~ 355,600 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 24,800 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 310,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | - +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,120
4,1211) | 4,120 **(Dynamixel Protocol 2.0)**
4,121 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 24,800 | 0 ~ 21,336,000 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 310,000 | 0 ~ 355,600 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 24,800 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 310,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +234,17 @@ product_group: dxl_y_m {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 21,336,000 | +| Unit | Range | +| :-----------: | :------------: | +| 10 [rev/min²] | 0 ~ 21,336,000 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:------------------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 355,600 | 100,000 = Maximum speed limited to 1,000[RPM]
642,200 = Maximum speed limited to 6,422[RPM] | +| Unit | Range | Description | +| :-------: | :---------: | :----------------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 355,600 | 100,000 = Maximum speed limited to 1,000[RPM]
642,200 = Maximum speed limited to 6,422[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +398,10 @@ product_group: dxl_y_m {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/en/dxl/y/ym080-230-r051-rh.md b/docs/en/dxl/y/ym080-230-r051-rh.md index e90dee77a..efe39ffa0 100644 --- a/docs/en/dxl/y/ym080-230-r051-rh.md +++ b/docs/en/dxl/y/ym080-230-r051-rh.md @@ -36,100 +36,102 @@ product_group: dxl_y_r ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,140 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 2 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 418,352 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 6,972 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 313 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | - +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,140
4,1411) | 4,140 **(Dynamixel Protocol 2.0)**
4,141 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 21,336,000 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 355,600 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 313 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +234,17 @@ product_group: dxl_y_r {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 418,352 | +| Unit | Range | +| :-----------: | :---------: | +| 10 [rev/min²] | 0 ~ 418,352 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:-----------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | +| Unit | Range | Description | +| :-------: | :-------: | :---------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +398,10 @@ product_group: dxl_y_r {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/en/dxl/y/ym080-230-r099-rh.md b/docs/en/dxl/y/ym080-230-r099-rh.md index 7f3a016df..91525b014 100644 --- a/docs/en/dxl/y/ym080-230-r099-rh.md +++ b/docs/en/dxl/y/ym080-230-r099-rh.md @@ -36,100 +36,102 @@ product_group: dxl_y_r ## [Control Table Configuration](#control-table-configuration) -|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | -|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| -| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,150 | - | - | -| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | -| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | -| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | -| 8 | 2 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | -| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | -| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | -| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | -| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | -| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | -| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | -| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | -| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | -| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | -| 38 | 2 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | -| 40 | 4 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 44 | 4 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | -| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | -| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 56 | 1 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | -| 57 | 1 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | -| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | -| 62 | 2 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | -| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | -| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | -| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 161 | 0 ~ 215,515 | 10 [rev/min²] | -| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 2,020 | 0 ~ 3,591 | 0.01 [rev/min] | -| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | -| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 1,045,576 | 1/R | -| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | -| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | -| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | -| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | -| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | -| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | -| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | -| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | -| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | -| 154 | 1 | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | -| 155 | 1 | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 168 | 1 | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | -| 169 | 1 | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | -| 170 | 1 | RAM | [Hybrid Saveve](#hybrid-save) | RW | 0 | 0 ~ 2 | - | -| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | -| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | -| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | -| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | -| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | -| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 161 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | -| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | -| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | -| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | -| 256 | 2 | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | -| 258 | 2 | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 508 | 2 | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | -| 510 | 2 | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | -| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | -| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | -| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 520 | 4 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 524 | 2 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | -| 526 | 2 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | -| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | -| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | -| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | -| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | -| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | -| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | -| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | -| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | -| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | -| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | -| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | -| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | -| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | -| 634 | 1 | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 635 | 1 | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| ... | ... | ... | ... | ... | ... | ... | ... | -| 760 | 1 | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 761 | 1 | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | -| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | - +| Address | Size(Byte) | _Modbus_
Address | Area | Data Name | Access | Initial
Value | Range | Unit | +| :-----: | :--------: | :-----------------: | :----- | :-------------------------------------------------------------------- | :----: | :---------------------------: | :--------------------------------------------------------: | :------------: | +| 0 | 2 | 40001 | EEPROM | [Model Number](#model-number) | R | 4,150
4,1511) | 4,150 **(Dynamixel Protocol 2.0)**
4,151 **(Modbus)** | - | +| 2 | 4 | 40002 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | 40004 (Lo byte) | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | 40004 (Hi byte) | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 2 | 40005 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | 40006 (Lo byte) | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | 40006 (Hi byte) | EEPROM | [Protocol Type](#protocol-type) | RW | 2
10 | 2 **(Dynamixel Protocol 2.0)**
10 **(Modbus)** | - | +| 12 | 1 | 40007 (Lo byte) | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | 40007 (hi byte) | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | 40008 (hi byte) | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | 40009 (Lo byte) | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | 40017 (Lo byte) | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | 40017 (hi byte) | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | 40018 (Lo byte) | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 2 | 40020 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 4 | 40021 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 4 | 40023 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | 40025 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | 40027 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 1 | 40029 (Lo byte) | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 1 | 40029 (Hi byte) | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | 40031 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 161 | 0 ~ 215,515 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 2,020 | 0 ~ 3,591 | 0.01 [rev/min] | +| 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 1,045,576 | 1/R | +| 100 | 4 | 40051 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 1,045,576 | R | +| 104 | 2 | 40053 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] | +| 106 | 2 | 40054 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 108 | 2 | 40055 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 110 | 1 | 40056 (Lo byte) | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | 40056 (Hi byte) | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 112 | 2 | 40057 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | 40067 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 134 | 2 | 40068 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] | +| 136 | 2 | 40069 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | 40070 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | 40077 (Lo byte) | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | 40077 (Hi byte) | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | 40078 (Lo byte) | RAM | [Error Code History 1](#error-code-history) | R | - | - | - | +| 155 | 1 | 40078 (Hi byte) | RAM | [Error Code History 2](#error-code-history) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | 40085 (Lo byte) | RAM | [Error Code History 15](#error-code-history) | R | - | - | - | +| 169 | 1 | 40085 (Hi byte) | RAM | [Error Code History 16](#error-code-history) | R | - | - | - | +| 170 | 1 | 40086 (Lo byte) | RAM | [Hybrid Save](#hybrid-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | 40107 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | 40109 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | 40111 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | 40113 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | 40115 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | 40117 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | 40119 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | 40121 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 161 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | 40123 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | 40125 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | 40127 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | N/A | EEPROM | [Indirect Address 1](#indirect-address) | RW | 634 | 0 ~ 919 | - | +| 258 | 2 | N/A | EEPROM | [Indirect Address 2](#indirect-address) | RW | 635 | 0 ~ 919 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 508 | 2 | N/A | EEPROM | [Indirect Address 127](#indirect-address) | RW | 760 | 0 ~ 919 | - | +| 510 | 2 | N/A | EEPROM | [Indirect Address 128](#indirect-address) | RW | 761 | 0 ~ 919 | - | +| 512 | 1 | 40257 (Lo byte) | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | 40257 (Hi byte) | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | 40259 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | 40260 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 4 | 40261 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 2 | 40263 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 2 | 40264 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | 40265 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | 40267 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | 40271 (Hi byte) | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | 40272 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | 40273 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | 40274 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | 40275 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | 40277 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | 40279 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | 40281 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | 40283 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | 40284 (Lo byte) | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | 40284 (Hi byte) | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | N/A | RAM | [Indirect Data 1](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | N/A | RAM | [Indirect Data 2](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [Control Table Description](#control-table-description) @@ -232,17 +234,17 @@ product_group: dxl_y_r {% include en/dxl/y/control_table_68_acceleration_limit.md %} -| Unit | Range | -|:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 418,352 | +| Unit | Range | +| :-----------: | :---------: | +| 10 [rev/min²] | 0 ~ 418,352 | ### **[Velocity Limit(72)](#velocity-limit72)** {% include en/dxl/y/control_table_72_velocity_limit.md %} -| Unit | Range | Description | -|:-------------:|:---------------------:|:-----------------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | +| Unit | Range | Description | +| :-------: | :-------: | :---------------------------------------------------------------------------------------: | +| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** @@ -396,6 +398,10 @@ product_group: dxl_y_r {% include en/dxl/y/control_table_919_backup_ready.md %} +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** + +{% include en/dxl/y/factory_reset_reboot_clear_instruction.md %} + # [How to Assemble](#how-to-assemble) ## [Assembly Guide](#assembly-guide) diff --git a/docs/kr/dxl/y/y.md b/docs/kr/dxl/y/y.md index 5f187c64c..f6041148b 100644 --- a/docs/kr/dxl/y/y.md +++ b/docs/kr/dxl/y/y.md @@ -34,14 +34,17 @@ DYNAMIXEL-Y is ROBOTIS’ industrialized premium robot actuator solution for ful # [주요 사양](#주요-사양) -| 모델명 | 크기(mm) | 무게 | 해상도 | 구성 | -|:-------------------:|:-------------:|:------:|:----------:|:---------------:| -| [YM070-210-M001-RH] | Ø70 x 50.9 | 340g | 524,288 | Motor | -| [YM070-210-R051-RH] | Ø70 x 71.1 | 790g | 26,738,688 | Motor, Reducer | -| [YM070-210-R099-RH] | Ø70 x 71.1 | 790g | 51,904,512 | Motor, Reducer | -| [YM080-230-M001-RH] | Ø80 x 54.1 | 530g | 524,288 | Motor | -| [YM080-230-R051-RH] | Ø80 x 78.1 | 1,200g | 26,738,688 | Motor, Reducer | -| [YM080-230-R099-RH] | Ø80 x 78.1 | 1,200g | 51,904,512 | Motor, Reducer | +## [YM070](#ym070) + +| 모델명 | 크기 [mm] | 무게 [g] | 기어비 [R] | 정격 토크 [N.m] | 최대 토크 [N.m] | 동작 전압 [V] | 해상도 [pulse/rev] | 구성 | +|:------------------: |:----------: |:--------:|:---------:|:---------------:|:--------------:|:------------:|:------------------:|:---------------------:| +| [YM070-210-M001-RH] | Ø70 x 50.9 | 340 | - | 0.32 | 0.64 | 24 | 524,288 | Motor | +| [YM070-210-B001-RH] | Ø70 x 71.0 | 530 | - | 0.32 | 0.64 | 24 | 524,288 | Motor, Brake | +| [YM070-210-R051-RH] | Ø70 x 71.1 | 790 | 51:1 | 8.2 | 16.3 | 24 | 26,738,688 | Motor, Reducer | +| [YM070-210-R099-RH] | Ø70 x 71.1 | 790 | 99:1 | 14.6 | 31.7 | 24 | 51,904,512 | Motor, Reducer | +| [YM070-210-A051-RH] | Ø70 x 91.2 | 980 | 51:1 | 8.2 | 16.3 | 24 | 26,738,688 | Motor, Reducer, Brake | +| [YM070-210-A099-RH] | Ø70 x 91.2 | 980 | 99:1 | 14.6 | 31.7 | 24 | 51,904,512 | Motor, Reducer, Brake | + # [통신 회로](#통신-회로) @@ -61,12 +64,13 @@ Main Controller를 직접 제작하여 다이나믹셀-Y를 제어하기 위해 ## [케이블 연결](#케이블-연결) DYNAMIXEL-Y 커넥터의 핀 배열은 아래 그림과 같습니다. -### [YM070](#ym070) -![](/assets/images/dxl/y/70_connect_cable_1.png) +### YM070 + +![](/assets/images/dxl/y/70_connect_cable_1.png) ![](/assets/images/dxl/y/70_connect_cable_2.png) -### [YM080](#ym080) +### YM080 ![](/assets/images/dxl/y/80_connect_cable_1.PNG) ![](/assets/images/dxl/y/80_connect_cable_2.PNG) @@ -75,8 +79,14 @@ DYNAMIXEL-Y 커넥터의 핀 배열은 아래 그림과 같습니다. {: .notice--warning} [YM070-210-M001-RH]: /docs/kr/dxl/y/ym070-210-m001-rh/ +[YM070-210-B001-RH]: /docs/kr/dxl/y/ym070-210-b001-rh/ [YM070-210-R051-RH]: /docs/kr/dxl/y/ym070-210-r051-rh/ [YM070-210-R099-RH]: /docs/kr/dxl/y/ym070-210-r099-rh/ +[YM070-210-A051-RH]: /docs/kr/dxl/y/ym070-210-a051-rh/ +[YM070-210-A099-RH]: /docs/kr/dxl/y/ym070-210-a099-rh/ [YM080-230-M001-RH]: /docs/kr/dxl/y/ym080-230-m001-rh/ +[YM080-230-B001-RH]: /docs/kr/dxl/y/ym080-230-b001-rh/ [YM080-230-R051-RH]: /docs/kr/dxl/y/ym080-230-r051-rh/ -[YM080-230-R099-RH]: /docs/kr/dxl/y/ym080-230-r099-rh/ \ No newline at end of file +[YM080-230-R099-RH]: /docs/kr/dxl/y/ym080-230-r099-rh/ +[YM080-230-A051-RH]: /docs/kr/dxl/y/ym080-230-a051-rh/ +[YM080-230-A099-RH]: /docs/kr/dxl/y/ym080-230-a099-rh/ \ No newline at end of file diff --git a/docs/kr/dxl/y/ym070-210-a051-rh.md b/docs/kr/dxl/y/ym070-210-a051-rh.md index 0d396b1f0..9008d20ce 100644 --- a/docs/kr/dxl/y/ym070-210-a051-rh.md +++ b/docs/kr/dxl/y/ym070-210-a051-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_a | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -398,7 +398,7 @@ product_group: dxl_y_a {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %} diff --git a/docs/kr/dxl/y/ym070-210-a099-rh.md b/docs/kr/dxl/y/ym070-210-a099-rh.md index 2641cd9df..2990ddce2 100644 --- a/docs/kr/dxl/y/ym070-210-a099-rh.md +++ b/docs/kr/dxl/y/ym070-210-a099-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_a | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -399,7 +399,7 @@ product_group: dxl_y_a {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %} diff --git a/docs/kr/dxl/y/ym070-210-b001-rh.md b/docs/kr/dxl/y/ym070-210-b001-rh.md index d03e33214..3fffbcfc5 100644 --- a/docs/kr/dxl/y/ym070-210-b001-rh.md +++ b/docs/kr/dxl/y/ym070-210-b001-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_b | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -399,7 +399,7 @@ product_group: dxl_y_b {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %} diff --git a/docs/kr/dxl/y/ym070-210-m001-rh.md b/docs/kr/dxl/y/ym070-210-m001-rh.md index 97f271b05..660b82b09 100644 --- a/docs/kr/dxl/y/ym070-210-m001-rh.md +++ b/docs/kr/dxl/y/ym070-210-m001-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_m | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -398,7 +398,7 @@ product_group: dxl_y_m {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %} diff --git a/docs/kr/dxl/y/ym070-210-r051-rh.md b/docs/kr/dxl/y/ym070-210-r051-rh.md index 133d010d0..cb9d548a5 100644 --- a/docs/kr/dxl/y/ym070-210-r051-rh.md +++ b/docs/kr/dxl/y/ym070-210-r051-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_r | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -399,7 +399,7 @@ product_group: dxl_y_r {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %} diff --git a/docs/kr/dxl/y/ym070-210-r099-rh.md b/docs/kr/dxl/y/ym070-210-r099-rh.md index 5196eb851..62d1531dc 100644 --- a/docs/kr/dxl/y/ym070-210-r099-rh.md +++ b/docs/kr/dxl/y/ym070-210-r099-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_r | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -398,7 +398,7 @@ product_group: dxl_y_r {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %} diff --git a/docs/kr/dxl/y/ym080-230-a051-rh.md b/docs/kr/dxl/y/ym080-230-a051-rh.md index a6244cc3d..b0980b02b 100644 --- a/docs/kr/dxl/y/ym080-230-a051-rh.md +++ b/docs/kr/dxl/y/ym080-230-a051-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_a | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -398,7 +398,7 @@ product_group: dxl_y_a {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %} diff --git a/docs/kr/dxl/y/ym080-230-a099-rh.md b/docs/kr/dxl/y/ym080-230-a099-rh.md index b0aa9134f..55ce5911f 100644 --- a/docs/kr/dxl/y/ym080-230-a099-rh.md +++ b/docs/kr/dxl/y/ym080-230-a099-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_a | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -398,7 +398,7 @@ product_group: dxl_y_a {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %} diff --git a/docs/kr/dxl/y/ym080-230-b001-rh.md b/docs/kr/dxl/y/ym080-230-b001-rh.md index fd5d85264..f7bef7c96 100644 --- a/docs/kr/dxl/y/ym080-230-b001-rh.md +++ b/docs/kr/dxl/y/ym080-230-b001-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_b | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -399,7 +399,7 @@ product_group: dxl_y_b {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %} diff --git a/docs/kr/dxl/y/ym080-230-m001-rh.md b/docs/kr/dxl/y/ym080-230-m001-rh.md index 967a2ac2f..020a81d44 100644 --- a/docs/kr/dxl/y/ym080-230-m001-rh.md +++ b/docs/kr/dxl/y/ym080-230-m001-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_m | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -398,7 +398,7 @@ product_group: dxl_y_m {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %} diff --git a/docs/kr/dxl/y/ym080-230-r051-rh.md b/docs/kr/dxl/y/ym080-230-r051-rh.md index 3a94a3683..5cac34297 100644 --- a/docs/kr/dxl/y/ym080-230-r051-rh.md +++ b/docs/kr/dxl/y/ym080-230-r051-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_r | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -399,7 +399,7 @@ product_group: dxl_y_r {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %} diff --git a/docs/kr/dxl/y/ym080-230-r099-rh.md b/docs/kr/dxl/y/ym080-230-r099-rh.md index 4c929ba59..18a7787ac 100644 --- a/docs/kr/dxl/y/ym080-230-r099-rh.md +++ b/docs/kr/dxl/y/ym080-230-r099-rh.md @@ -129,9 +129,9 @@ product_group: dxl_y_r | 760 | 1 | N/A | RAM | [Indirect Data 127](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 761 | 1 | N/A | RAM | [Indirect Data 128](#indirect-data) | RW | 0 | 0 ~ 255 | - | | 919 | 1 | N/A | RAM | [Backup Ready](#backup-ready) | R | - | - | - | -| N/A | 2 | 41001 | RAM | Factory Reset Instruction | W | - | - | - | -| N/A | 2 | 41002 | RAM | Reboot Instruction | W | - | - | - | -| N/A | 2 | 41003 | RAM | Clear Instruction | W | - | - | - | +| N/A | 2 | 41001 | RAM | [Factory Reset Instruction](#factory-reset-instruction) | W | - | - | - | +| N/A | 2 | 41002 | RAM | [Reboot Instruction](#reboot-instruction) | W | - | - | - | +| N/A | 2 | 41003 | RAM | [Clear Instruction](#clear-instruction) | W | - | - | - | ## [컨트롤 테이블 설명](#컨트롤-테이블-설명) @@ -398,7 +398,7 @@ product_group: dxl_y_r {% include kr/dxl/y/control_table_919_backup_ready.md %} -### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** +### **[Factory Reset, Reboot, Clear Instruction (Modbus)](#factory-reset-reboot-clear-instruction-modbus)** {% include kr/dxl/y/factory_reset_reboot_clear_instruction.md %}