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Woojin-CriveWoojin-Crive
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Merge pull request #69 from ROBOTIS-GIT/feature-firmware-based-model
Enhance Dynamixel model file handling with firmware version support
2 parents cc338de + 7811016 commit 7cc59f3

28 files changed

+911
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lines changed

‎CHANGELOG.rst‎

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Changelog for package dynamixel_hardware_interface
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.4.11 (2025-07-21)
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------------------
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* Added support for firmware version-aware model file selection
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* Contributors: Woojin Wie
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1.4.10 (2025-07-18)
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------------------
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* Added unit system to model files

‎include/dynamixel_hardware_interface/dynamixel/dynamixel.hpp‎

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@@ -212,6 +212,8 @@ class Dynamixel
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static std::string DxlErrorToString(DxlError error_num);
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DxlError ReadDxlModelFile(uint8_t id, uint16_t model_num);
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DxlError ReadDxlModelFile(uint8_t id, uint16_t model_num, uint8_t firmware_version);
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DxlError ReadFirmwareVersion(uint8_t id, uint8_t & firmware_version);
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void SetCommId(uint8_t id, uint8_t comm_id) {comm_id_[id] = comm_id;}
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‎include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp‎

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#include <map>
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#include <string>
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#include <vector>
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#include <regex>
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#include <boost/algorithm/string.hpp>
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@@ -46,6 +47,7 @@ typedef struct
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int32_t value_of_max_radian_position;
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int32_t value_of_min_radian_position;
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uint16_t model_num;
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uint8_t firmware_version;
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std::vector<ControlItem> item;
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std::map<std::string, double> unit_map;
@@ -60,6 +62,12 @@ class DynamixelInfo
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std::string dxl_model_file_dir;
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// Firmware version-aware model file selection
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std::string SelectModelFileByFirmwareVersion(
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const std::string & base_model_name,
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uint8_t firmware_version);
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uint8_t ExtractFirmwareVersionFromFilename(const std::string & filename);
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public:
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// Id, Control table
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std::map<uint8_t, DxlInfo> dxl_info_;
@@ -71,6 +79,7 @@ class DynamixelInfo
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void InitDxlModelInfo();
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void ReadDxlModelFile(uint8_t id, uint16_t model_num);
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void ReadDxlModelFile(uint8_t id, uint16_t model_num, uint8_t firmware_version);
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bool GetDxlControlItem(uint8_t id, std::string item_name, uint16_t & addr, uint8_t & size);
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bool CheckDxlControlItem(uint8_t id, std::string item_name);
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@@ -89,6 +98,8 @@ class DynamixelInfo
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int32_t ConvertRadianToValue(uint8_t id, double radian);
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double ConvertValueToRadian(uint8_t id, int32_t value);
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std::string GetModelName(uint16_t model_number) const;
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};
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// Template implementations

‎package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>dynamixel_hardware_interface</name>
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<version>1.4.10</version>
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<version>1.4.11</version>
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<description>
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ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
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</description>

‎param/dxl_model/xc330_m181.model‎

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@@ -66,8 +66,8 @@ Address Size Data Name
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144 2 Present Input Voltage
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146 1 Present Temperature
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168 2 Indirect Address 1
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208 1 Indirect Data 1
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224 1 Indirect Data 1
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168 2 Indirect Address Write
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208 1 Indirect Data Write
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224 1 Indirect Data Write
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180 2 Indirect Address Read
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214 1 Indirect Data Read
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230 1 Indirect Data Read

‎param/dxl_model/xc330_m181_fw52.model‎

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[type info]
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name value
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value_of_zero_radian_position 2048
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value_of_max_radian_position 4095
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value_of_min_radian_position 0
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min_radian -3.14159265
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max_radian 3.14159265
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[unit info]
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Data Name value unit Sign Type
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Present Velocity 0.0239691227 rad/s signed
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Goal Velocity 0.0239691227 rad/s signed
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[control table]
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Address Size Data Name
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0 2 Model Number
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2 4 Model Information
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6 1 Firmware Version
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7 1 ID
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8 1 Baud Rate
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9 1 Return Delay Time
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10 1 Drive Mode
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11 1 Operating Mode
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12 1 Secondary(Shadow) ID
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13 1 Protocol Type
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20 4 Homing Offset
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24 4 Moving Threshold
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31 1 Temperature Limit
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32 2 Max Voltage Limit
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34 2 Min Voltage Limit
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36 2 PWM Limit
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38 2 Current Limit
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44 4 Velocity Limit
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48 4 Max Position Limit
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52 4 Min Position Limit
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62 1 PWM Slope
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63 1 Shutdown
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64 1 Torque Enable
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65 1 LED
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68 1 Status Return Level
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69 1 Registered Instruction
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70 1 Hardware Error Status
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76 2 Velocity I Gain
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78 2 Velocity P Gain
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80 2 Position D Gain
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82 2 Position I Gain
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84 2 Position P Gain
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88 2 Feedforward 2nd Gain
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90 2 Feedforward 1st Gain
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98 1 Bus Watchdog
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100 2 Goal PWM
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102 2 Goal Current
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104 4 Goal Velocity
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108 4 Profile Acceleration
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112 4 Profile Velocity
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116 4 Goal Position
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120 2 Realtime Tick
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122 1 Moving
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123 1 Moving Status
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124 2 Present PWM
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126 2 Present Current
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128 4 Present Velocity
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132 4 Present Position
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136 4 Velocity Trajectory
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140 4 Position Trajectory
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144 2 Present Input Voltage
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146 1 Present Temperature
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168 2 Indirect Address 1
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208 1 Indirect Data 1
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168 2 Indirect Address Write
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208 1 Indirect Data Write
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180 2 Indirect Address Read
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214 1 Indirect Data Read

‎param/dxl_model/xc330_m288.model‎

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144 2 Present Input Voltage
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146 1 Present Temperature
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168 2 Indirect Address 1
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208 1 Indirect Data 1
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224 1 Indirect Data 1
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168 2 Indirect Address Write
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208 1 Indirect Data Write
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224 1 Indirect Data Write
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180 2 Indirect Address Read
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214 1 Indirect Data Read
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230 1 Indirect Data Read

‎param/dxl_model/xc330_m288_fw52.model‎

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[type info]
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name value
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value_of_zero_radian_position 2048
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value_of_max_radian_position 4095
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value_of_min_radian_position 0
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min_radian -3.14159265
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max_radian 3.14159265
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[unit info]
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Data Name value unit Sign Type
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Present Velocity 0.0239691227 rad/s signed
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Goal Velocity 0.0239691227 rad/s signed
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[control table]
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Address Size Data Name
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0 2 Model Number
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2 4 Model Information
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6 1 Firmware Version
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7 1 ID
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8 1 Baud Rate
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9 1 Return Delay Time
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10 1 Drive Mode
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11 1 Operating Mode
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12 1 Secondary(Shadow) ID
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13 1 Protocol Type
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20 4 Homing Offset
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24 4 Moving Threshold
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31 1 Temperature Limit
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32 2 Max Voltage Limit
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34 2 Min Voltage Limit
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36 2 PWM Limit
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38 2 Current Limit
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44 4 Velocity Limit
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48 4 Max Position Limit
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52 4 Min Position Limit
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62 1 PWM Slope
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63 1 Shutdown
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64 1 Torque Enable
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65 1 LED
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68 1 Status Return Level
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69 1 Registered Instruction
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70 1 Hardware Error Status
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76 2 Velocity I Gain
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78 2 Velocity P Gain
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80 2 Position D Gain
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82 2 Position I Gain
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84 2 Position P Gain
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88 2 Feedforward 2nd Gain
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90 2 Feedforward 1st Gain
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98 1 Bus Watchdog
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100 2 Goal PWM
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102 2 Goal Current
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104 4 Goal Velocity
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108 4 Profile Acceleration
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112 4 Profile Velocity
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116 4 Goal Position
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120 2 Realtime Tick
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122 1 Moving
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123 1 Moving Status
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124 2 Present PWM
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126 2 Present Current
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128 4 Present Velocity
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132 4 Present Position
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136 4 Velocity Trajectory
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140 4 Position Trajectory
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144 2 Present Input Voltage
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146 1 Present Temperature
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168 2 Indirect Address 1
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208 1 Indirect Data 1
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168 2 Indirect Address Write
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208 1 Indirect Data Write
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180 2 Indirect Address Read
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214 1 Indirect Data Read

‎param/dxl_model/xc330_t181.model‎

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144 2 Present Input Voltage
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146 1 Present Temperature
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168 2 Indirect Address 1
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208 1 Indirect Data 1
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224 1 Indirect Data 1
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168 2 Indirect Address Write
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208 1 Indirect Data Write
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224 1 Indirect Data Write
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180 2 Indirect Address Read
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214 1 Indirect Data Read
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230 1 Indirect Data Read

‎param/dxl_model/xc330_t181_fw52.model‎

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[type info]
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name value
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value_of_zero_radian_position 2048
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value_of_max_radian_position 4095
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value_of_min_radian_position 0
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min_radian -3.14159265
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max_radian 3.14159265
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[unit info]
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Data Name value unit Sign Type
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Present Velocity 0.0239691227 rad/s signed
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Goal Velocity 0.0239691227 rad/s signed
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Present Current 0.0006709470296015791 N/m signed
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Goal Current 0.0006709470296015791 N/m signed
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[control table]
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Address Size Data Name
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0 2 Model Number
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2 4 Model Information
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6 1 Firmware Version
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7 1 ID
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8 1 Baud Rate
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9 1 Return Delay Time
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10 1 Drive Mode
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11 1 Operating Mode
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12 1 Secondary(Shadow) ID
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13 1 Protocol Type
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20 4 Homing Offset
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24 4 Moving Threshold
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31 1 Temperature Limit
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32 2 Max Voltage Limit
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34 2 Min Voltage Limit
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36 2 PWM Limit
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38 2 Current Limit
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44 4 Velocity Limit
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48 4 Max Position Limit
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52 4 Min Position Limit
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62 1 PWM Slope
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63 1 Shutdown
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64 1 Torque Enable
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65 1 LED
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68 1 Status Return Level
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69 1 Registered Instruction
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70 1 Hardware Error Status
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76 2 Velocity I Gain
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78 2 Velocity P Gain
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80 2 Position D Gain
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82 2 Position I Gain
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84 2 Position P Gain
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88 2 Feedforward 2nd Gain
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90 2 Feedforward 1st Gain
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98 1 Bus Watchdog
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100 2 Goal PWM
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102 2 Goal Current
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104 4 Goal Velocity
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108 4 Profile Acceleration
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112 4 Profile Velocity
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116 4 Goal Position
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120 2 Realtime Tick
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122 1 Moving
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123 1 Moving Status
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124 2 Present PWM
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126 2 Present Current
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128 4 Present Velocity
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132 4 Present Position
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136 4 Velocity Trajectory
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140 4 Position Trajectory
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144 2 Present Input Voltage
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146 1 Present Temperature
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168 2 Indirect Address 1
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208 1 Indirect Data 1
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168 2 Indirect Address Write
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208 1 Indirect Data Write
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180 2 Indirect Address Read
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214 1 Indirect Data Read

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