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| 1 | +[device info] |
| 2 | +model_name = RH-P12-RN |
| 3 | +device_type = dynamixel |
| 4 | + |
| 5 | +[type info] |
| 6 | +value_of_0_radian_position = 0 |
| 7 | +value_of_min_radian_position = 0 |
| 8 | +value_of_max_radian_position = 740 |
| 9 | +min_radian = 0 |
| 10 | +max_radian = 1.150767 |
| 11 | + |
| 12 | +torque_enable_item_name = torque_enable |
| 13 | +present_position_item_name = present_position |
| 14 | +present_velocity_item_name = present_velocity |
| 15 | +present_current_item_name = present_current |
| 16 | +goal_position_item_name = goal_position |
| 17 | +goal_velocity_item_name = goal_velocity |
| 18 | +goal_current_item_name = goal_current |
| 19 | +position_d_gain_item_name = position_d_gain |
| 20 | +position_i_gain_item_name = position_i_gain |
| 21 | +position_p_gain_item_name = position_p_gain |
| 22 | +velocity_d_gain_item_name = |
| 23 | +velocity_i_gain_item_name = |
| 24 | +velocity_p_gain_item_name = |
| 25 | + |
| 26 | +[control table] |
| 27 | +# addr | item name | length | access | memory | min value | max value | signed |
| 28 | + 0 | model_number | 2 | R | EEPROM | 0 | 65535 | N |
| 29 | + 6 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N |
| 30 | + 7 | ID | 1 | RW | EEPROM | 0 | 252 | N |
| 31 | + 8 | baudrate | 1 | RW | EEPROM | 0 | 8 | N |
| 32 | + 9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N |
| 33 | + 11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N |
| 34 | + 17 | moving_threshold | 4 | RW | EEPROM | 0 | 2147483647 | N |
| 35 | + 21 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N |
| 36 | + 22 | max_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N |
| 37 | + 24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N |
| 38 | + 26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N |
| 39 | + 30 | current_limit | 2 | RW | EEPROM | 0 | 32767 | N |
| 40 | + 32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N |
| 41 | + 36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y |
| 42 | + 40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y |
| 43 | + 44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N |
| 44 | + 45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N |
| 45 | + 46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N |
| 46 | + 47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N |
| 47 | + 48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N |
| 48 | + 49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N |
| 49 | + 562 | torque_enable | 1 | RW | RAM | 0 | 1 | N |
| 50 | + 563 | LED_RED | 1 | RW | RAM | 0 | 255 | N |
| 51 | + 564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N |
| 52 | + 565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N |
| 53 | + 590 | position_d_gain | 2 | RW | RAM | 0 | 2047 | N |
| 54 | + 592 | position_i_gain | 2 | RW | RAM | 0 | 2047 | N |
| 55 | + 594 | position_p_gain | 2 | RW | RAM | 0 | 2047 | N |
| 56 | + 596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y |
| 57 | + 600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y |
| 58 | + 604 | goal_current | 2 | RW | RAM | -32768 | 32767 | Y |
| 59 | + 606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N |
| 60 | + 610 | is_moving | 1 | R | RAM | 0 | 1 | N |
| 61 | + 611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y |
| 62 | + 615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y |
| 63 | + 621 | present_current | 2 | R | RAM | -32768 | 32767 | Y |
| 64 | + 623 | present_voltage | 2 | R | RAM | 0 | 500 | N |
| 65 | + 625 | present_temperature | 1 | R | RAM | 0 | 200 | N |
| 66 | + 626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N |
| 67 | + 628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N |
| 68 | + 630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N |
| 69 | + 632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N |
| 70 | + 634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N |
| 71 | + 890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N |
| 72 | + 891 | status_return_level | 1 | RW | RAM | 0 | 2 | N |
| 73 | + 892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N |
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