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Merge pull request #3 from ROBOTIS-GIT/feature-dxl-x-support
Support for All Dynamixel X-Series Actuators Including XC330 Series
2 parents de43d91 + 8348e8c commit 945fc5c

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‎CHANGELOG.rst‎

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Changelog for package dynamixel_hardware_interface
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.1.0 (2024-12-27)
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------------------
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* Added new control table entries for Dynamixel X
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* Contributors: Woojin Wie, Hye-Jong Kim
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510
1.0.0 (2024-12-04)
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------------------
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* First release of dynamixel_hardware_interface package

‎param/dxl_model/2xc430_w250.model‎

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@@ -59,7 +59,7 @@ Address Size Data Name
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146 1 Present Temperature
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168 2 Indirect Address 1
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224 1 Indirect Data 1
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168 2 Indirect Address Read
63-
224 1 Indirect Data Read
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578 2 Indirect Address Write
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634 1 Indirect Data Write
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168 2 Indirect Address Write
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224 1 Indirect Data Write
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578 2 Indirect Address Read
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634 1 Indirect Data Read

‎param/dxl_model/2xl430_w250.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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[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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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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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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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 Load
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128 4 Present Velocity
55+
132 4 Present Position
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136 4 Velocity Trajectory
57+
140 4 Position Trajectory
58+
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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224 1 Indirect Data 1
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168 2 Indirect Address Write
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224 1 Indirect Data Write
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578 2 Indirect Address Read
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634 1 Indirect Data Read

‎param/dxl_model/dynamixel.model‎

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Number Name
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350 xl320.model
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1000 xh430_w350.model
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1001 xd430_t350.model
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1010 xh430_w210.model
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1011 xd430_t210.model
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1020 xm430_w350.model
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1030 xm430_w210.model
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1040 xh430_v350.model
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1050 xh430_v210.model
411
1060 xl430_w250.model
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1070 xc430_w150.model
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1070 xc430_w150.model
514
1080 xc430_w240.model
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1080 xc430_w240.model
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1090 2xl430_w250.model
617
1100 xh540_w270.model
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1101 xd540_t270.model
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1110 xh540_w150.model
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1111 xd540_t150.model
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1120 xm540_w270.model
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1130 xm540_w150.model
23+
1140 xh540_v270.model
24+
1150 xh540_v150.model
725
1160 2xc430_w250.model
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1170 xw540_t260.model
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1180 xw540_t140.model
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1190 xl330_m077.model
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1200 xl330_m288.model
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1210 xc330_t181.model
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1220 xc330_t288.model
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1230 xc330_m181.model
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1240 xc330_m288.model
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1270 xw430_t333.model
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1310 xw540_h260.model
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4000 ym070_210_m001.model
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4020 ym070_210_r051.model
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4030 ym070_210_r099.model

‎param/dxl_model/rh_p12_rn.model‎

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@@ -67,7 +67,7 @@ Address Size Data Name
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592 2 Present Input Voltage
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594 1 Present Temperature
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634 1 Indirect Data 1
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168 2 Indirect Address Read
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634 1 Indirect Data Read
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296 2 Indirect Address Write
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698 1 Indirect Data Write
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168 2 Indirect Address Write
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634 1 Indirect Data Write
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296 2 Indirect Address Read
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698 1 Indirect Data Read

‎param/dxl_model/xc330_m181.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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9+
[control table]
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Address Size Data Name
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0 2 Model Number
12+
2 4 Model Information
13+
6 1 Firmware Version
14+
7 1 ID
15+
8 1 Baud Rate
16+
9 1 Return Delay Time
17+
10 1 Drive Mode
18+
11 1 Operating Mode
19+
12 1 Secondary(Shadow) ID
20+
13 1 Protocol Type
21+
20 4 Homing Offset
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24 4 Moving Threshold
23+
31 1 Temperature Limit
24+
32 2 Max Voltage Limit
25+
34 2 Min Voltage Limit
26+
36 2 PWM Limit
27+
38 2 Current Limit
28+
44 4 Velocity Limit
29+
48 4 Max Position Limit
30+
52 4 Min Position Limit
31+
62 1 PWM Slope
32+
63 1 Shutdown
33+
64 1 Torque Enable
34+
65 1 LED
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68 1 Status Return Level
36+
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
40+
80 2 Position D Gain
41+
82 2 Position I Gain
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84 2 Position P Gain
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88 2 Feedforward 2nd Gain
44+
90 2 Feedforward 1st Gain
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98 1 Bus Watchdog
46+
100 2 Goal PWM
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102 2 Goal Current
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104 4 Goal Velocity
49+
108 4 Profile Acceleration
50+
112 4 Profile Velocity
51+
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
55+
124 2 Present PWM
56+
126 2 Present Current
57+
128 4 Present Velocity
58+
132 4 Present Position
59+
136 4 Velocity Trajectory
60+
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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[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
5+
value_of_min_radian_position 0
6+
min_radian -3.14159265
7+
max_radian 3.14159265
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9+
[control table]
10+
Address Size Data Name
11+
0 2 Model Number
12+
2 4 Model Information
13+
6 1 Firmware Version
14+
7 1 ID
15+
8 1 Baud Rate
16+
9 1 Return Delay Time
17+
10 1 Drive Mode
18+
11 1 Operating Mode
19+
12 1 Secondary(Shadow) ID
20+
13 1 Protocol Type
21+
20 4 Homing Offset
22+
24 4 Moving Threshold
23+
31 1 Temperature Limit
24+
32 2 Max Voltage Limit
25+
34 2 Min Voltage Limit
26+
36 2 PWM Limit
27+
38 2 Current Limit
28+
44 4 Velocity Limit
29+
48 4 Max Position Limit
30+
52 4 Min Position Limit
31+
62 1 PWM Slope
32+
63 1 Shutdown
33+
64 1 Torque Enable
34+
65 1 LED
35+
68 1 Status Return Level
36+
69 1 Registered Instruction
37+
70 1 Hardware Error Status
38+
76 2 Velocity I Gain
39+
78 2 Velocity P Gain
40+
80 2 Position D Gain
41+
82 2 Position I Gain
42+
84 2 Position P Gain
43+
88 2 Feedforward 2nd Gain
44+
90 2 Feedforward 1st Gain
45+
98 1 Bus Watchdog
46+
100 2 Goal PWM
47+
102 2 Goal Current
48+
104 4 Goal Velocity
49+
108 4 Profile Acceleration
50+
112 4 Profile Velocity
51+
116 4 Goal Position
52+
120 2 Realtime Tick
53+
122 1 Moving
54+
123 1 Moving Status
55+
124 2 Present PWM
56+
126 2 Present Current
57+
128 4 Present Velocity
58+
132 4 Present Position
59+
136 4 Velocity Trajectory
60+
140 4 Position Trajectory
61+
144 2 Present Input Voltage
62+
146 1 Present Temperature
63+
168 2 Indirect Address 1
64+
208 1 Indirect Data 1
65+
168 2 Indirect Address Write
66+
208 1 Indirect Data Write
67+
180 2 Indirect Address Read
68+
214 1 Indirect Data Read

‎param/dxl_model/xc330_t181.model‎

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[type info]
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name value
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value_of_zero_radian_position 2048
4+
value_of_max_radian_position 4095
5+
value_of_min_radian_position 0
6+
min_radian -3.14159265
7+
max_radian 3.14159265
8+
9+
[control table]
10+
Address Size Data Name
11+
0 2 Model Number
12+
2 4 Model Information
13+
6 1 Firmware Version
14+
7 1 ID
15+
8 1 Baud Rate
16+
9 1 Return Delay Time
17+
10 1 Drive Mode
18+
11 1 Operating Mode
19+
12 1 Secondary(Shadow) ID
20+
13 1 Protocol Type
21+
20 4 Homing Offset
22+
24 4 Moving Threshold
23+
31 1 Temperature Limit
24+
32 2 Max Voltage Limit
25+
34 2 Min Voltage Limit
26+
36 2 PWM Limit
27+
38 2 Current Limit
28+
44 4 Velocity Limit
29+
48 4 Max Position Limit
30+
52 4 Min Position Limit
31+
62 1 PWM Slope
32+
63 1 Shutdown
33+
64 1 Torque Enable
34+
65 1 LED
35+
68 1 Status Return Level
36+
69 1 Registered Instruction
37+
70 1 Hardware Error Status
38+
76 2 Velocity I Gain
39+
78 2 Velocity P Gain
40+
80 2 Position D Gain
41+
82 2 Position I Gain
42+
84 2 Position P Gain
43+
88 2 Feedforward 2nd Gain
44+
90 2 Feedforward 1st Gain
45+
98 1 Bus Watchdog
46+
100 2 Goal PWM
47+
102 2 Goal Current
48+
104 4 Goal Velocity
49+
108 4 Profile Acceleration
50+
112 4 Profile Velocity
51+
116 4 Goal Position
52+
120 2 Realtime Tick
53+
122 1 Moving
54+
123 1 Moving Status
55+
124 2 Present PWM
56+
126 2 Present Current
57+
128 4 Present Velocity
58+
132 4 Present Position
59+
136 4 Velocity Trajectory
60+
140 4 Position Trajectory
61+
144 2 Present Input Voltage
62+
146 1 Present Temperature
63+
168 2 Indirect Address 1
64+
208 1 Indirect Data 1
65+
168 2 Indirect Address Write
66+
208 1 Indirect Data Write
67+
180 2 Indirect Address Read
68+
214 1 Indirect Data Read

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