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Woojin-CriveWoojin-Crive
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refactor: Add new Dynamixel model files and update existing models
1 parent 7cc59f3 commit ecb4106

20 files changed

+1477
-2
lines changed

‎param/dxl_model/dynamixel.model‎

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Original file line numberDiff line numberDiff line change
@@ -1,7 +1,10 @@
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Number Name
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30 mx_28.model
23
220 omy_hat.model
34
230 omy_end.model
45
231 omy_end_rh_p12_rn.model
6+
311 mx_64.model
7+
321 mx_106.model
58
350 xl320.model
69
536 sensorxel_joy.model
710
537 ffw_g40_imu.model
@@ -48,13 +51,27 @@ Number Name
4851
1270 xw430_t333.model
4952
1310 xw540_h260.model
5053
2000 ph42_020_s300.model
54+
2010 ph54_100_s500.model
55+
2020 ph54_200_s500.model
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2100 pm42_010_s260.model
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2110 pm54_040_s250.model
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2120 pm54_060_s250.model
5159
4000 ym070_210_m001.model
60+
4010 ym070_210_b001.model
5261
4020 ym070_210_r051.model
5362
4030 ym070_210_r099.model
63+
4040 ym070_210_a051.model
5464
4050 ym070_210_a099.model
5565
4120 ym080_230_m001.model
5666
4130 ym080_230_b001.model
5767
4140 ym080_230_r051.model
5868
4150 ym080_230_r099.model
69+
4160 ym080_230_a051.model
5970
4170 ym080_230_a099.model
6071
35074 rh_p12_rn.model
72+
43289 m42_10_s260_ra.model
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46097 m54_40_s250_ra.model
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46353 m54_60_s250_ra.model
75+
51201 h42_20_s300_ra.model
76+
53769 h54_100_s500_ra.model
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54025 h54_200_s500_ra.model

‎param/dxl_model/h42_20_s300_ra.model‎

Lines changed: 78 additions & 0 deletions
Original file line numberDiff line numberDiff line change
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1+
[type info]
2+
name value
3+
value_of_zero_radian_position 0
4+
value_of_max_radian_position 303750
5+
value_of_min_radian_position -303750
6+
min_radian -3.14159265
7+
max_radian 3.14159265
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9+
[unit info]
10+
Data Name value unit Sign Type
11+
Present Velocity 0.0010471976 rad/s signed
12+
Goal Velocity 0.0010471976 rad/s signed
13+
14+
[control table]
15+
Address Size Data Name
16+
0 2 Model Number
17+
2 4 Model Information
18+
6 1 Firmware Version
19+
7 1 ID
20+
8 1 Baud Rate
21+
9 1 Return Delay Time
22+
10 1 Drive Mode
23+
11 1 Operating Mode
24+
12 1 Secondary ID
25+
20 4 Homing Offset
26+
24 4 Moving Threshold
27+
31 1 Temperature Limit
28+
32 2 Max Voltage Limit
29+
34 2 Min Voltage Limit
30+
36 2 PWM Limit
31+
38 2 Current Limit
32+
40 4 Acceleration Limit
33+
44 4 Velocity Limit
34+
48 4 Max Position Limit
35+
52 4 Min Position Limit
36+
56 1 External Port Mode 1
37+
57 1 External Port Mode 2
38+
58 1 External Port Mode 3
39+
59 1 External Port Mode 4
40+
63 1 Shutdown
41+
512 1 Torque Enable
42+
513 1 LED Red
43+
514 1 LED Green
44+
515 1 LED Blue
45+
516 1 Status Return Level
46+
517 1 Registered Instruction
47+
518 1 Hardware Error Status
48+
524 2 Velocity I Gain
49+
526 2 Velocity P Gain
50+
528 2 Position D Gain
51+
532 2 Position P Gain
52+
530 2 Position I Gain
53+
536 2 Feedforward 2nd Gain
54+
538 2 Feedforward 1st Gain
55+
546 1 Bus Watchdog
56+
548 2 Goal PWM
57+
550 2 Goal Current
58+
552 4 Goal Velocity
59+
556 4 Profile Acceleration
60+
560 4 Profile Velocity
61+
564 4 Goal Position
62+
568 2 Realtime Tick
63+
570 1 Moving
64+
571 1 Moving Status
65+
572 2 Present PWM
66+
574 2 Present Current
67+
576 4 Present Velocity
68+
580 4 Present Position
69+
584 4 Velocity Trajectory
70+
588 4 Position Trajectory
71+
592 2 Present Input Voltage
72+
594 1 Present Temperature
73+
168 2 Indirect Address 1
74+
634 1 Indirect Data 1
75+
168 2 Indirect Address Write
76+
634 1 Indirect Data Write
77+
296 2 Indirect Address Read
78+
698 1 Indirect Data Read

‎param/dxl_model/h54_100_s500_ra.model‎

Lines changed: 78 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,78 @@
1+
[type info]
2+
name value
3+
value_of_zero_radian_position 0
4+
value_of_max_radian_position 501923
5+
value_of_min_radian_position -501923
6+
min_radian -3.14159265
7+
max_radian 3.14159265
8+
9+
[unit info]
10+
Data Name value unit Sign Type
11+
Present Velocity 0.0010471976 rad/s signed
12+
Goal Velocity 0.0010471976 rad/s signed
13+
14+
[control table]
15+
Address Size Data Name
16+
0 2 Model Number
17+
2 4 Model Information
18+
6 1 Firmware Version
19+
7 1 ID
20+
8 1 Baud Rate
21+
9 1 Return Delay Time
22+
10 1 Drive Mode
23+
11 1 Operating Mode
24+
12 1 Secondary ID
25+
20 4 Homing Offset
26+
24 4 Moving Threshold
27+
31 1 Temperature Limit
28+
32 2 Max Voltage Limit
29+
34 2 Min Voltage Limit
30+
36 2 PWM Limit
31+
38 2 Current Limit
32+
40 4 Acceleration Limit
33+
44 4 Velocity Limit
34+
48 4 Max Position Limit
35+
52 4 Min Position Limit
36+
56 1 External Port Mode 1
37+
57 1 External Port Mode 2
38+
58 1 External Port Mode 3
39+
59 1 External Port Mode 4
40+
63 1 Shutdown
41+
512 1 Torque Enable
42+
513 1 LED Red
43+
514 1 LED Green
44+
515 1 LED Blue
45+
516 1 Status Return Level
46+
517 1 Registered Instruction
47+
518 1 Hardware Error Status
48+
524 2 Velocity I Gain
49+
526 2 Velocity P Gain
50+
528 2 Position D Gain
51+
532 2 Position P Gain
52+
530 2 Position I Gain
53+
536 2 Feedforward 2nd Gain
54+
538 2 Feedforward 1st Gain
55+
546 1 Bus Watchdog
56+
548 2 Goal PWM
57+
550 2 Goal Current
58+
552 4 Goal Velocity
59+
556 4 Profile Acceleration
60+
560 4 Profile Velocity
61+
564 4 Goal Position
62+
568 2 Realtime Tick
63+
570 1 Moving
64+
571 1 Moving Status
65+
572 2 Present PWM
66+
574 2 Present Current
67+
576 4 Present Velocity
68+
580 4 Present Position
69+
584 4 Velocity Trajectory
70+
588 4 Position Trajectory
71+
592 2 Present Input Voltage
72+
594 1 Present Temperature
73+
168 2 Indirect Address 1
74+
634 1 Indirect Data 1
75+
168 2 Indirect Address Write
76+
634 1 Indirect Data Write
77+
296 2 Indirect Address Read
78+
698 1 Indirect Data Read

‎param/dxl_model/h54_200_s500_ra.model‎

Lines changed: 78 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,78 @@
1+
[type info]
2+
name value
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value_of_zero_radian_position 0
4+
value_of_max_radian_position 501923
5+
value_of_min_radian_position -501923
6+
min_radian -3.14159265
7+
max_radian 3.14159265
8+
9+
[unit info]
10+
Data Name value unit Sign Type
11+
Present Velocity 0.0010471976 rad/s signed
12+
Goal Velocity 0.0010471976 rad/s signed
13+
14+
[control table]
15+
Address Size Data Name
16+
0 2 Model Number
17+
2 4 Model Information
18+
6 1 Firmware Version
19+
7 1 ID
20+
8 1 Baud Rate
21+
9 1 Return Delay Time
22+
10 1 Drive Mode
23+
11 1 Operating Mode
24+
12 1 Secondary ID
25+
20 4 Homing Offset
26+
24 4 Moving Threshold
27+
31 1 Temperature Limit
28+
32 2 Max Voltage Limit
29+
34 2 Min Voltage Limit
30+
36 2 PWM Limit
31+
38 2 Current Limit
32+
40 4 Acceleration Limit
33+
44 4 Velocity Limit
34+
48 4 Max Position Limit
35+
52 4 Min Position Limit
36+
56 1 External Port Mode 1
37+
57 1 External Port Mode 2
38+
58 1 External Port Mode 3
39+
59 1 External Port Mode 4
40+
63 1 Shutdown
41+
512 1 Torque Enable
42+
513 1 LED Red
43+
514 1 LED Green
44+
515 1 LED Blue
45+
516 1 Status Return Level
46+
517 1 Registered Instruction
47+
518 1 Hardware Error Status
48+
524 2 Velocity I Gain
49+
526 2 Velocity P Gain
50+
528 2 Position D Gain
51+
532 2 Position P Gain
52+
530 2 Position I Gain
53+
536 2 Feedforward 2nd Gain
54+
538 2 Feedforward 1st Gain
55+
546 1 Bus Watchdog
56+
548 2 Goal PWM
57+
550 2 Goal Current
58+
552 4 Goal Velocity
59+
556 4 Profile Acceleration
60+
560 4 Profile Velocity
61+
564 4 Goal Position
62+
568 2 Realtime Tick
63+
570 1 Moving
64+
571 1 Moving Status
65+
572 2 Present PWM
66+
574 2 Present Current
67+
576 4 Present Velocity
68+
580 4 Present Position
69+
584 4 Velocity Trajectory
70+
588 4 Position Trajectory
71+
592 2 Present Input Voltage
72+
594 1 Present Temperature
73+
168 2 Indirect Address 1
74+
634 1 Indirect Data 1
75+
168 2 Indirect Address Write
76+
634 1 Indirect Data Write
77+
296 2 Indirect Address Read
78+
698 1 Indirect Data Read

‎param/dxl_model/m42_10_s260_ra.model‎

Lines changed: 78 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,78 @@
1+
[type info]
2+
name value
3+
value_of_zero_radian_position 0
4+
value_of_max_radian_position 263187
5+
value_of_min_radian_position -263187
6+
min_radian -3.14159265
7+
max_radian 3.14159265
8+
9+
[unit info]
10+
Data Name value unit Sign Type
11+
Present Velocity 0.0010471976 rad/s signed
12+
Goal Velocity 0.0010471976 rad/s signed
13+
14+
[control table]
15+
Address Size Data Name
16+
0 2 Model Number
17+
2 4 Model Information
18+
6 1 Firmware Version
19+
7 1 ID
20+
8 1 Baud Rate
21+
9 1 Return Delay Time
22+
10 1 Drive Mode
23+
11 1 Operating Mode
24+
12 1 Secondary ID
25+
20 4 Homing Offset
26+
24 4 Moving Threshold
27+
31 1 Temperature Limit
28+
32 2 Max Voltage Limit
29+
34 2 Min Voltage Limit
30+
36 2 PWM Limit
31+
38 2 Current Limit
32+
40 4 Acceleration Limit
33+
44 4 Velocity Limit
34+
48 4 Max Position Limit
35+
52 4 Min Position Limit
36+
56 1 External Port Mode 1
37+
57 1 External Port Mode 2
38+
58 1 External Port Mode 3
39+
59 1 External Port Mode 4
40+
63 1 Shutdown
41+
512 1 Torque Enable
42+
513 1 LED Red
43+
514 1 LED Green
44+
515 1 LED Blue
45+
516 1 Status Return Level
46+
517 1 Registered Instruction
47+
518 1 Hardware Error Status
48+
524 2 Velocity I Gain
49+
526 2 Velocity P Gain
50+
528 2 Position D Gain
51+
532 2 Position P Gain
52+
530 2 Position I Gain
53+
536 2 Feedforward 2nd Gain
54+
538 2 Feedforward 1st Gain
55+
546 1 Bus Watchdog
56+
548 2 Goal PWM
57+
550 2 Goal Current
58+
552 4 Goal Velocity
59+
556 4 Profile Acceleration
60+
560 4 Profile Velocity
61+
564 4 Goal Position
62+
568 2 Realtime Tick
63+
570 1 Moving
64+
571 1 Moving Status
65+
572 2 Present PWM
66+
574 2 Present Current
67+
576 4 Present Velocity
68+
580 4 Present Position
69+
584 4 Velocity Trajectory
70+
588 4 Position Trajectory
71+
592 2 Present Input Voltage
72+
594 1 Present Temperature
73+
168 2 Indirect Address 1
74+
634 1 Indirect Data 1
75+
168 2 Indirect Address Write
76+
634 1 Indirect Data Write
77+
296 2 Indirect Address Read
78+
698 1 Indirect Data Read

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