From 7b7250c4e55ebcb932cf4cfe55408fc6617610ba Mon Sep 17 00:00:00 2001 From: zerom Date: Mon, 5 Nov 2018 11:43:49 +0900 Subject: [PATCH] - changed X-Series control tables. --- robotis_device/devices/dynamixel/XM-430.device | 4 +++- .../dynamixel/{XM-430-W210.device => XM430-W210.device} | 6 ++++-- .../dynamixel/{XM-430-W350.device => XM430-W350.device} | 6 ++++-- robotis_device/devices/dynamixel/XM540-W150.device | 2 +- robotis_device/devices/dynamixel/XM540-W270.device | 2 +- 5 files changed, 13 insertions(+), 7 deletions(-) rename robotis_device/devices/dynamixel/{XM-430-W210.device => XM430-W210.device} (93%) mode change 100755 => 100644 rename robotis_device/devices/dynamixel/{XM-430-W350.device => XM430-W350.device} (93%) mode change 100755 => 100644 diff --git a/robotis_device/devices/dynamixel/XM-430.device b/robotis_device/devices/dynamixel/XM-430.device index fadcfaf..7dfe91d 100755 --- a/robotis_device/devices/dynamixel/XM-430.device +++ b/robotis_device/devices/dynamixel/XM-430.device @@ -32,7 +32,9 @@ velocity_p_gain_item_name = velocity_p_gain 7 | ID | 1 | RW | EEPROM | 0 | 252 | N 8 | baudrate | 1 | RW | EEPROM | 0 | 7 | 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 | 16 | N + 12 | secondary_id | 1 | RW | EEPROM | 0 | 255 | N 20 | homing_offset | 4 | RW | EEPROM | -1044479 | 1044479 | Y 24 | moving_threshold | 4 | RW | EEPROM | 0 | 1023 | N 31 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N @@ -40,7 +42,6 @@ velocity_p_gain_item_name = velocity_p_gain 34 | min_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N 36 | pwm_limit | 2 | RW | EEPROM | 0 | 885 | N 38 | current_limit | 2 | RW | EEPROM | 0 | 1193 | N - 40 | acceleration_limit | 4 | RW | EEPROM | 0 | 32767 | N 44 | velocity_limit | 4 | RW | EEPROM | 0 | 1023 | N 48 | max_position_limit | 4 | RW | EEPROM | 0 | 4095 | N 52 | min_position_limit | 4 | RW | EEPROM | 0 | 4095 | N @@ -57,6 +58,7 @@ velocity_p_gain_item_name = velocity_p_gain 84 | position_p_gain | 2 | RW | RAM | 0 | 32767 | N 88 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N 90 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N + 98 | bus_watchdog | 1 | RW | RAM | -1 | 127 | Y 100 | goal_pwm | 2 | RW | RAM | 0 | 885 | N 102 | goal_current | 2 | RW | RAM | 0 | 1193 | N 104 | goal_velocity | 4 | RW | RAM | 0 | 1023 | N diff --git a/robotis_device/devices/dynamixel/XM-430-W210.device b/robotis_device/devices/dynamixel/XM430-W210.device old mode 100755 new mode 100644 similarity index 93% rename from robotis_device/devices/dynamixel/XM-430-W210.device rename to robotis_device/devices/dynamixel/XM430-W210.device index df823c8..6113e04 --- a/robotis_device/devices/dynamixel/XM-430-W210.device +++ b/robotis_device/devices/dynamixel/XM430-W210.device @@ -1,5 +1,5 @@ [device info] -model_name = XM-430-W210 +model_name = XM430-W210 device_type = dynamixel [type info] @@ -33,7 +33,9 @@ velocity_p_gain_item_name = velocity_p_gain 7 | ID | 1 | RW | EEPROM | 0 | 252 | N 8 | baudrate | 1 | RW | EEPROM | 0 | 7 | 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 | 16 | N + 12 | secondary_id | 1 | RW | EEPROM | 0 | 255 | N 20 | homing_offset | 4 | RW | EEPROM | -1044479 | 1044479 | Y 24 | moving_threshold | 4 | RW | EEPROM | 0 | 1023 | N 31 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N @@ -41,7 +43,6 @@ velocity_p_gain_item_name = velocity_p_gain 34 | min_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N 36 | pwm_limit | 2 | RW | EEPROM | 0 | 885 | N 38 | current_limit | 2 | RW | EEPROM | 0 | 1193 | N - 40 | acceleration_limit | 4 | RW | EEPROM | 0 | 32767 | N 44 | velocity_limit | 4 | RW | EEPROM | 0 | 1023 | N 48 | max_position_limit | 4 | RW | EEPROM | 0 | 4095 | N 52 | min_position_limit | 4 | RW | EEPROM | 0 | 4095 | N @@ -58,6 +59,7 @@ velocity_p_gain_item_name = velocity_p_gain 84 | position_p_gain | 2 | RW | RAM | 0 | 32767 | N 88 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N 90 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N + 98 | bus_watchdog | 1 | RW | RAM | -1 | 127 | Y 100 | goal_pwm | 2 | RW | RAM | 0 | 885 | N 102 | goal_current | 2 | RW | RAM | 0 | 1193 | N 104 | goal_velocity | 4 | RW | RAM | 0 | 1023 | N diff --git a/robotis_device/devices/dynamixel/XM-430-W350.device b/robotis_device/devices/dynamixel/XM430-W350.device old mode 100755 new mode 100644 similarity index 93% rename from robotis_device/devices/dynamixel/XM-430-W350.device rename to robotis_device/devices/dynamixel/XM430-W350.device index ce6e895..e1be362 --- a/robotis_device/devices/dynamixel/XM-430-W350.device +++ b/robotis_device/devices/dynamixel/XM430-W350.device @@ -1,5 +1,5 @@ [device info] -model_name = XM-430-W350 +model_name = XM430-W350 device_type = dynamixel [type info] @@ -33,7 +33,9 @@ velocity_p_gain_item_name = velocity_p_gain 7 | ID | 1 | RW | EEPROM | 0 | 252 | N 8 | baudrate | 1 | RW | EEPROM | 0 | 7 | 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 | 16 | N + 12 | secondary_id | 1 | RW | EEPROM | 0 | 255 | N 20 | homing_offset | 4 | RW | EEPROM | -1044479 | 1044479 | Y 24 | moving_threshold | 4 | RW | EEPROM | 0 | 1023 | N 31 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N @@ -41,7 +43,6 @@ velocity_p_gain_item_name = velocity_p_gain 34 | min_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N 36 | pwm_limit | 2 | RW | EEPROM | 0 | 885 | N 38 | current_limit | 2 | RW | EEPROM | 0 | 1193 | N - 40 | acceleration_limit | 4 | RW | EEPROM | 0 | 32767 | N 44 | velocity_limit | 4 | RW | EEPROM | 0 | 1023 | N 48 | max_position_limit | 4 | RW | EEPROM | 0 | 4095 | N 52 | min_position_limit | 4 | RW | EEPROM | 0 | 4095 | N @@ -58,6 +59,7 @@ velocity_p_gain_item_name = velocity_p_gain 84 | position_p_gain | 2 | RW | RAM | 0 | 32767 | N 88 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N 90 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N + 98 | bus_watchdog | 1 | RW | RAM | -1 | 127 | Y 100 | goal_pwm | 2 | RW | RAM | 0 | 885 | N 102 | goal_current | 2 | RW | RAM | 0 | 1193 | N 104 | goal_velocity | 4 | RW | RAM | 0 | 1023 | N diff --git a/robotis_device/devices/dynamixel/XM540-W150.device b/robotis_device/devices/dynamixel/XM540-W150.device index e11c017..64fcf3b 100755 --- a/robotis_device/devices/dynamixel/XM540-W150.device +++ b/robotis_device/devices/dynamixel/XM540-W150.device @@ -33,6 +33,7 @@ velocity_p_gain_item_name = velocity_p_gain 7 | ID | 1 | RW | EEPROM | 0 | 252 | N 8 | baudrate | 1 | RW | EEPROM | 0 | 7 | 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 | 16 | N 12 | secondary_id | 1 | RW | EEPROM | 0 | 255 | N 20 | homing_offset | 4 | RW | EEPROM | -1044479 | 1044479 | Y @@ -42,7 +43,6 @@ velocity_p_gain_item_name = velocity_p_gain 34 | min_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N 36 | pwm_limit | 2 | RW | EEPROM | 0 | 885 | N 38 | current_limit | 2 | RW | EEPROM | 0 | 1193 | N - 40 | acceleration_limit | 4 | RW | EEPROM | 0 | 32767 | N 44 | velocity_limit | 4 | RW | EEPROM | 0 | 1023 | N 48 | max_position_limit | 4 | RW | EEPROM | 0 | 4095 | N 52 | min_position_limit | 4 | RW | EEPROM | 0 | 4095 | N diff --git a/robotis_device/devices/dynamixel/XM540-W270.device b/robotis_device/devices/dynamixel/XM540-W270.device index 897f398..c787cba 100755 --- a/robotis_device/devices/dynamixel/XM540-W270.device +++ b/robotis_device/devices/dynamixel/XM540-W270.device @@ -33,6 +33,7 @@ velocity_p_gain_item_name = velocity_p_gain 7 | ID | 1 | RW | EEPROM | 0 | 252 | N 8 | baudrate | 1 | RW | EEPROM | 0 | 7 | 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 | 16 | N 12 | secondary_id | 1 | RW | EEPROM | 0 | 255 | N 20 | homing_offset | 4 | RW | EEPROM | -1044479 | 1044479 | Y @@ -42,7 +43,6 @@ velocity_p_gain_item_name = velocity_p_gain 34 | min_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N 36 | pwm_limit | 2 | RW | EEPROM | 0 | 885 | N 38 | current_limit | 2 | RW | EEPROM | 0 | 1193 | N - 40 | acceleration_limit | 4 | RW | EEPROM | 0 | 32767 | N 44 | velocity_limit | 4 | RW | EEPROM | 0 | 1023 | N 48 | max_position_limit | 4 | RW | EEPROM | 0 | 4095 | N 52 | min_position_limit | 4 | RW | EEPROM | 0 | 4095 | N