- added XM540 device files
This commit is contained in:
zerom
89
robotis_device/devices/dynamixel/XM540-W150.device
Executable file
89
robotis_device/devices/dynamixel/XM540-W150.device
Executable file
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[device info]
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model_name = XM540-W150
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device_type = dynamixel
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[type info]
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torque_to_current_value_ratio = 289.13672036
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velocity_to_value_ratio = 41.707853
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value_of_0_radian_position = 2048
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value_of_min_radian_position = 0
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value_of_max_radian_position = 4095
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min_radian = -3.14159265
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max_radian = 3.14159265
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torque_enable_item_name = torque_enable
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present_position_item_name = present_position
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present_velocity_item_name = present_velocity
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present_current_item_name = present_current
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goal_position_item_name = goal_position
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goal_velocity_item_name = goal_velocity
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goal_current_item_name = goal_current
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position_d_gain_item_name = position_d_gain
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position_i_gain_item_name = position_i_gain
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position_p_gain_item_name = position_p_gain
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velocity_d_gain_item_name =
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velocity_i_gain_item_name = velocity_i_gain
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velocity_p_gain_item_name = velocity_p_gain
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[control table]
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# addr | item name | length | access | memory | min value | max value | signed
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0 | model_number | 2 | R | EEPROM | 0 | 65535 | N
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6 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N
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7 | ID | 1 | RW | EEPROM | 0 | 252 | N
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8 | baudrate | 1 | RW | EEPROM | 0 | 7 | N
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9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
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11 | operating_mode | 1 | RW | EEPROM | 0 | 16 | N
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12 | secondary_id | 1 | RW | EEPROM | 0 | 255 | N
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20 | homing_offset | 4 | RW | EEPROM | -1044479 | 1044479 | Y
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24 | moving_threshold | 4 | RW | EEPROM | 0 | 1023 | N
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31 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N
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32 | max_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N
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34 | min_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N
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36 | pwm_limit | 2 | RW | EEPROM | 0 | 885 | N
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38 | current_limit | 2 | RW | EEPROM | 0 | 1193 | N
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40 | acceleration_limit | 4 | RW | EEPROM | 0 | 32767 | N
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44 | velocity_limit | 4 | RW | EEPROM | 0 | 1023 | N
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48 | max_position_limit | 4 | RW | EEPROM | 0 | 4095 | N
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52 | min_position_limit | 4 | RW | EEPROM | 0 | 4095 | N
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56 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
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57 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
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58 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
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63 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
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64 | torque_enable | 1 | RW | RAM | 0 | 1 | N
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65 | LED | 1 | RW | RAM | 0 | 1 | N
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68 | status_return_level | 1 | RW | RAM | 0 | 2 | N
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69 | registered_instruction | 1 | R | RAM | 0 | 1 | N
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70 | hardware_error_status | 1 | R | RAM | 0 | 255 | N
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76 | velocity_i_gain | 2 | RW | RAM | 0 | 32767 | N
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78 | velocity_p_gain | 2 | RW | RAM | 0 | 32767 | N
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80 | position_d_gain | 2 | RW | RAM | 0 | 32767 | N
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82 | position_i_gain | 2 | RW | RAM | 0 | 32767 | N
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84 | position_p_gain | 2 | RW | RAM | 0 | 32767 | N
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88 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N
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90 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N
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98 | bus_watchdog | 1 | RW | RAM | -1 | 127 | Y
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100 | goal_pwm | 2 | RW | RAM | 0 | 885 | N
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102 | goal_current | 2 | RW | RAM | 0 | 1193 | N
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104 | goal_velocity | 4 | RW | RAM | 0 | 1023 | N
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108 | profile_acceleration | 4 | RW | RAM | 0 | 32767 | N
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112 | profile_velocity | 4 | RW | RAM | 0 | 1023 | N
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116 | goal_position | 4 | RW | RAM | -1048575 | 1048575 | Y
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120 | realtime_tick | 2 | R | RAM | 0 | 32767 | N
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122 | moving | 1 | R | RAM | 0 | 1 | N
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123 | moving_status | 1 | R | RAM | 0 | 255 | N
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124 | present_pwm | 2 | R | RAM | 0 | 885 | N
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126 | present_current | 2 | R | RAM | 0 | 1193 | N
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128 | present_velocity | 4 | R | RAM | 0 | 1023 | N
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132 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
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136 | velocity_trajectory | 4 | R | RAM | 0 | 1023 | N
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140 | position_trajectory | 4 | R | RAM | 0 | 4095 | N
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144 | present_input_voltage | 2 | R | RAM | 95 | 160 | N
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146 | present_temperature | 1 | R | RAM | 0 | 100 | N
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152 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
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154 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
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156 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
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168 | indirect_address_1 | 2 | RW | RAM | 0 | 65535 | N
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224 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
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578 | indirect_address_29 | 2 | RW | RAM | 0 | 65535 | N
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634 | indirect_data_29 | 1 | RW | RAM | 0 | 255 | N
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89
robotis_device/devices/dynamixel/XM540-W270.device
Executable file
89
robotis_device/devices/dynamixel/XM540-W270.device
Executable file
@ -0,0 +1,89 @@
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[device info]
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model_name = XM540-W270
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device_type = dynamixel
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[type info]
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torque_to_current_value_ratio = 156.133829
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velocity_to_value_ratio = 41.707853
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value_of_0_radian_position = 2048
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value_of_min_radian_position = 0
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value_of_max_radian_position = 4095
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min_radian = -3.14159265
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max_radian = 3.14159265
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torque_enable_item_name = torque_enable
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present_position_item_name = present_position
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present_velocity_item_name = present_velocity
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present_current_item_name = present_current
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goal_position_item_name = goal_position
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goal_velocity_item_name = goal_velocity
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goal_current_item_name = goal_current
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position_d_gain_item_name = position_d_gain
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position_i_gain_item_name = position_i_gain
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position_p_gain_item_name = position_p_gain
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velocity_d_gain_item_name =
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velocity_i_gain_item_name = velocity_i_gain
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velocity_p_gain_item_name = velocity_p_gain
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[control table]
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# addr | item name | length | access | memory | min value | max value | signed
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0 | model_number | 2 | R | EEPROM | 0 | 65535 | N
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6 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N
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7 | ID | 1 | RW | EEPROM | 0 | 252 | N
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8 | baudrate | 1 | RW | EEPROM | 0 | 7 | N
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9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
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11 | operating_mode | 1 | RW | EEPROM | 0 | 16 | N
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12 | secondary_id | 1 | RW | EEPROM | 0 | 255 | N
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20 | homing_offset | 4 | RW | EEPROM | -1044479 | 1044479 | Y
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24 | moving_threshold | 4 | RW | EEPROM | 0 | 1023 | N
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31 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N
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32 | max_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N
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34 | min_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N
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36 | pwm_limit | 2 | RW | EEPROM | 0 | 885 | N
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38 | current_limit | 2 | RW | EEPROM | 0 | 1193 | N
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40 | acceleration_limit | 4 | RW | EEPROM | 0 | 32767 | N
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44 | velocity_limit | 4 | RW | EEPROM | 0 | 1023 | N
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48 | max_position_limit | 4 | RW | EEPROM | 0 | 4095 | N
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52 | min_position_limit | 4 | RW | EEPROM | 0 | 4095 | N
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56 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
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57 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
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58 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
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63 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
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64 | torque_enable | 1 | RW | RAM | 0 | 1 | N
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65 | LED | 1 | RW | RAM | 0 | 1 | N
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68 | status_return_level | 1 | RW | RAM | 0 | 2 | N
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69 | registered_instruction | 1 | R | RAM | 0 | 1 | N
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70 | hardware_error_status | 1 | R | RAM | 0 | 255 | N
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76 | velocity_i_gain | 2 | RW | RAM | 0 | 32767 | N
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78 | velocity_p_gain | 2 | RW | RAM | 0 | 32767 | N
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80 | position_d_gain | 2 | RW | RAM | 0 | 32767 | N
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82 | position_i_gain | 2 | RW | RAM | 0 | 32767 | N
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84 | position_p_gain | 2 | RW | RAM | 0 | 32767 | N
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88 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N
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90 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N
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98 | bus_watchdog | 1 | RW | RAM | -1 | 127 | Y
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100 | goal_pwm | 2 | RW | RAM | 0 | 885 | N
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102 | goal_current | 2 | RW | RAM | 0 | 1193 | N
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104 | goal_velocity | 4 | RW | RAM | 0 | 1023 | N
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108 | profile_acceleration | 4 | RW | RAM | 0 | 32767 | N
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112 | profile_velocity | 4 | RW | RAM | 0 | 1023 | N
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116 | goal_position | 4 | RW | RAM | -1048575 | 1048575 | Y
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120 | realtime_tick | 2 | R | RAM | 0 | 32767 | N
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122 | moving | 1 | R | RAM | 0 | 1 | N
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123 | moving_status | 1 | R | RAM | 0 | 255 | N
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124 | present_pwm | 2 | R | RAM | 0 | 885 | N
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126 | present_current | 2 | R | RAM | 0 | 1193 | N
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128 | present_velocity | 4 | R | RAM | 0 | 1023 | N
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132 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
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136 | velocity_trajectory | 4 | R | RAM | 0 | 1023 | N
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140 | position_trajectory | 4 | R | RAM | 0 | 4095 | N
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144 | present_input_voltage | 2 | R | RAM | 95 | 160 | N
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146 | present_temperature | 1 | R | RAM | 0 | 100 | N
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152 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
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154 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
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156 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
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168 | indirect_address_1 | 2 | RW | RAM | 0 | 65535 | N
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224 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
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578 | indirect_address_29 | 2 | RW | RAM | 0 | 65535 | N
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634 | indirect_data_29 | 1 | RW | RAM | 0 | 255 | N
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