BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- added RH-P12-RN(A).device

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zerom
2019-01-03 16:20:00 +09:00
parent 9e37fc645c
commit 01c1fb47a2
2 changed files with 91 additions and 1 deletions
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robotis_device/devices/dynamixel/RH-P12-RN(A).device Normal file
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[device info]
model_name = RH-P12-RN(A)
device_type = dynamixel
[type info]
value_of_0_radian_position = 0
value_of_min_radian_position = 0
value_of_max_radian_position = 740
min_radian = 0
max_radian = 1.150767
torque_enable_item_name = torque_enable
present_position_item_name = present_position
present_velocity_item_name = present_velocity
present_current_item_name = present_current
goal_position_item_name = goal_position
goal_velocity_item_name = goal_velocity
goal_current_item_name = goal_current
position_d_gain_item_name = position_d_gain
position_i_gain_item_name = position_i_gain
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed
0 | model_number | 2 | R | EEPROM | 0 | 65535 | N
6 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N
7 | ID | 1 | RW | EEPROM | 0 | 252 | N
8 | baudrate | 1 | RW | EEPROM | 0 | 9 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
10 | drive_mode | 1 | RW | EEPROM | 0 | 1 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
12 | secondary_ID | 1 | RW | EEPROM | 0 | 255 | N
20 | homing_offset | 4 | RW | EEPROM | -1150 | 1150 | Y
24 | moving_threshold | 4 | RW | EEPROM | 0 | 2970 | N
31 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N
32 | max_voltage_limit | 2 | RW | EEPROM | 0 | 350 | N
34 | min_voltage_limit | 2 | RW | EEPROM | 0 | 350 | N
36 | pwm_limit | 2 | RW | EEPROM | 0 | 2009 | N
38 | current_limit | 2 | RW | EEPROM | 0 | 1984 | N
40 | acceleration_limit | 4 | RW | EEPROM | 0 | 1378788 | N
44 | velocity_limit | 4 | RW | EEPROM | 0 | 2970 | N
48 | max_position_limit | 4 | RW | EEPROM | 0 | 1150 | N
52 | min_position_limit | 4 | RW | EEPROM | 0 | 1150 | N
56 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
57 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
58 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
59 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
63 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
168 | indirect_address_1 | 2 | RW | EEPROM | 512 | 1023 | N
512 | torque_enable | 1 | RW | RAM | 0 | 1 | N
513 | LED_RED | 1 | RW | RAM | 0 | 255 | N
514 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
515 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
516 | status_return_level | 1 | RW | RAM | 0 | 2 | N
517 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
518 | hardware_error_status | 2 | R | RAM | 0 | 63 | N
524 | velocity_i_gain | 2 | RW | RAM | 0 | 32767 | N
526 | velocity_p_gain | 2 | RW | RAM | 0 | 32767 | N
528 | position_d_gain | 2 | RW | RAM | 0 | 32767 | N
530 | position_i_gain | 2 | RW | RAM | 0 | 32767 | N
532 | position_p_gain | 2 | RW | RAM | 0 | 32767 | N
536 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N
538 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N
546 | bus_watchdog | 1 | RW | RAM | -1 | 127 | Y
548 | goal_pwm | 2 | RW | RAM | -2009 | 2009 | Y
550 | goal_current | 2 | RW | RAM | -1984 | 1984 | Y
552 | goal_velocity | 4 | RW | RAM | -2970 | 2970 | Y
556 | profile_acceleration | 4 | RW | RAM | 0 | 1378788 | N
560 | profile_velocity | 4 | RW | RAM | 0 | 2970 | N
564 | goal_position | 4 | RW | RAM | 0 | 1150 | N
568 | realtime_tick | 2 | R | RAM | 0 | 32767 | N
570 | is_moving | 1 | R | RAM | 0 | 1 | N
571 | moving_status | 1 | R | RAM | 0 | 255 | N
572 | present_pwm | 2 | R | RAM | -2009 | 2009 | Y
574 | present_current | 2 | R | RAM | -1984 | 1984 | Y
576 | present_velocity | 4 | R | RAM | -2970 | 2970 | Y
580 | present_position | 4 | R | RAM | -1150 | 1150 | Y
584 | velocity_trajectory | 4 | R | RAM | -2147483648 | 2147483648 | Y
588 | position_trajectory | 4 | R | RAM | -2147483648 | 2147483648 | Y
592 | present_voltage | 2 | R | RAM | 0 | 350 | N
594 | present_temperature | 1 | R | RAM | 0 | 100 | N
595 | grip_detection | 1 | R | RAM | 0 | 1 | N
600 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
602 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
604 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
606 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N

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robotis_device/devices/dynamixel/RH-P12-RN.device
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@ -30,7 +30,7 @@ velocity_p_gain_item_name =
7 | ID | 1 | RW | EEPROM | 0 | 252 | N
8 | baudrate | 1 | RW | EEPROM | 0 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 5 | N
17 | moving_threshold | 4 | RW | EEPROM | 0 | 2147483647 | N
21 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N
22 | max_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N