- added PH54-100-S500-R, PH54-200-S500-R, PH42-020-S300-R
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92
robotis_device/devices/dynamixel/PH42-020-S300-R.device
Normal file
92
robotis_device/devices/dynamixel/PH42-020-S300-R.device
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[device info]
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model_name = PH42-020-S300-R
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device_type = dynamixel
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[type info]
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torque_to_current_value_ratio = 109.3747778
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velocity_to_value_ratio = 954.93
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value_of_0_radian_position = 0
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value_of_min_radian_position = -303750
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value_of_max_radian_position = 303750
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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 | 8 | N
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9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
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10 | drive_mode | 1 | RW | EEPROM | 0 | 3 | N
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11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
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12 | secondary_id | 1 | RW | EEPROM | 0 | 255 | N
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13 | protocol_version | 1 | RW | EEPROM | 1 | 2 | N
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20 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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24 | moving_threshold | 4 | RW | EEPROM | 0 | 2147483647 | 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 | 0 | 400 | N
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34 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | 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 | 32767 | N
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40 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
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44 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
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48 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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52 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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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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59 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
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63 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
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168 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
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512 | torque_enable | 1 | RW | RAM | 0 | 1 | N
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513 | LED_RED | 1 | RW | RAM | 0 | 255 | N
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514 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
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515 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
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516 | status_return_level | 1 | RW | RAM | 0 | 2 | N
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517 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
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518 | hardware_error_status | 1 | R | RAM | 0 | 31 | N
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524 | velocity_i_gain | 2 | RW | RAM | 0 | 2047 | N
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526 | velocity_p_gain | 2 | RW | RAM | 0 | 2047 | N
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528 | position_d_gain | 2 | RW | RAM | 0 | 2047 | N
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530 | position_i_gain | 2 | RW | RAM | 0 | 2047 | N
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532 | position_p_gain | 2 | RW | RAM | 0 | 2047 | N
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536 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N
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538 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N
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546 | bus_watchdog | 1 | RW | RAM | -1 | 127 | Y
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548 | goal_pwm | 2 | RW | RAM | -2100 | 2100 | Y
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550 | goal_current | 2 | RW | RAM | -32768 | 32767 | Y
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552 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
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556 | profile_acceleration | 4 | RW | RAM | 0 | 32767 | N
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560 | profile_velocity | 4 | RW | RAM | 0 | 1023 | N
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564 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
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568 | realtime_tick | 2 | R | RAM | 0 | 32767 | N
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570 | moving | 1 | R | RAM | 0 | 1 | N
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571 | moving_status | 1 | R | RAM | 0 | 255 | N
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572 | present_pwm | 2 | R | RAM | -2100 | 2100 | Y
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574 | present_current | 2 | R | RAM | -32768 | 32767 | Y
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576 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
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580 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
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584 | velocity_trajectory | 4 | R | RAM | 0 | 1023 | N
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588 | position_trajectory | 4 | R | RAM | 0 | 4095 | N
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592 | present_voltage | 2 | R | RAM | 0 | 500 | N
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594 | present_temperature | 1 | R | RAM | 0 | 200 | N
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600 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
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602 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
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604 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
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606 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
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634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
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92
robotis_device/devices/dynamixel/PH54-100-S500-R.device
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92
robotis_device/devices/dynamixel/PH54-100-S500-R.device
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[device info]
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model_name = PH54-100-S500-R
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device_type = dynamixel
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[type info]
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torque_to_current_value_ratio = 155.658486
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velocity_to_value_ratio = 954.93
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value_of_0_radian_position = 0
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value_of_min_radian_position = -501923
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value_of_max_radian_position = 501923
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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 | 8 | N
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9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
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10 | drive_mode | 1 | RW | EEPROM | 0 | 3 | N
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11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
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12 | secondary_id | 1 | RW | EEPROM | 0 | 255 | N
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13 | protocol_version | 1 | RW | EEPROM | 1 | 2 | N
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20 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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24 | moving_threshold | 4 | RW | EEPROM | 0 | 2147483647 | 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 | 0 | 400 | N
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34 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | 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 | 32767 | N
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40 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
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44 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
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48 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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52 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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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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59 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
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63 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
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168 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
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512 | torque_enable | 1 | RW | RAM | 0 | 1 | N
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513 | LED_RED | 1 | RW | RAM | 0 | 255 | N
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514 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
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515 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
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516 | status_return_level | 1 | RW | RAM | 0 | 2 | N
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517 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
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518 | hardware_error_status | 1 | R | RAM | 0 | 31 | N
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524 | velocity_i_gain | 2 | RW | RAM | 0 | 2047 | N
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526 | velocity_p_gain | 2 | RW | RAM | 0 | 2047 | N
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528 | position_d_gain | 2 | RW | RAM | 0 | 2047 | N
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530 | position_i_gain | 2 | RW | RAM | 0 | 2047 | N
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532 | position_p_gain | 2 | RW | RAM | 0 | 2047 | N
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536 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N
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538 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N
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546 | bus_watchdog | 1 | RW | RAM | -1 | 127 | Y
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548 | goal_pwm | 2 | RW | RAM | -2100 | 2100 | Y
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550 | goal_current | 2 | RW | RAM | -32768 | 32767 | Y
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552 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
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556 | profile_acceleration | 4 | RW | RAM | 0 | 32767 | N
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560 | profile_velocity | 4 | RW | RAM | 0 | 1023 | N
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564 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
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568 | realtime_tick | 2 | R | RAM | 0 | 32767 | N
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570 | moving | 1 | R | RAM | 0 | 1 | N
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571 | moving_status | 1 | R | RAM | 0 | 255 | N
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572 | present_pwm | 2 | R | RAM | -2100 | 2100 | Y
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574 | present_current | 2 | R | RAM | -32768 | 32767 | Y
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576 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
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580 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
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584 | velocity_trajectory | 4 | R | RAM | 0 | 1023 | N
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588 | position_trajectory | 4 | R | RAM | 0 | 4095 | N
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592 | present_voltage | 2 | R | RAM | 0 | 500 | N
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594 | present_temperature | 1 | R | RAM | 0 | 200 | N
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600 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
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602 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
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604 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
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606 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
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634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
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92
robotis_device/devices/dynamixel/PH54-200-S500-R.device
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92
robotis_device/devices/dynamixel/PH54-200-S500-R.device
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[device info]
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model_name = PH54-200-S500-R
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device_type = dynamixel
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[type info]
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torque_to_current_value_ratio = 146.502114
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velocity_to_value_ratio = 954.93
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value_of_0_radian_position = 0
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value_of_min_radian_position = -501923
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value_of_max_radian_position = 501923
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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 | 8 | N
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9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
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10 | drive_mode | 1 | RW | EEPROM | 0 | 3 | N
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11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
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12 | secondary_id | 1 | RW | EEPROM | 0 | 255 | N
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13 | protocol_version | 1 | RW | EEPROM | 1 | 2 | N
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20 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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24 | moving_threshold | 4 | RW | EEPROM | 0 | 2147483647 | 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 | 0 | 400 | N
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34 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | 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 | 32767 | N
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40 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
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44 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
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48 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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52 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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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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59 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
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63 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
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168 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
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512 | torque_enable | 1 | RW | RAM | 0 | 1 | N
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513 | LED_RED | 1 | RW | RAM | 0 | 255 | N
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514 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
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515 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
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516 | status_return_level | 1 | RW | RAM | 0 | 2 | N
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517 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
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518 | hardware_error_status | 1 | R | RAM | 0 | 31 | N
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524 | velocity_i_gain | 2 | RW | RAM | 0 | 2047 | N
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526 | velocity_p_gain | 2 | RW | RAM | 0 | 2047 | N
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528 | position_d_gain | 2 | RW | RAM | 0 | 2047 | N
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530 | position_i_gain | 2 | RW | RAM | 0 | 2047 | N
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532 | position_p_gain | 2 | RW | RAM | 0 | 2047 | N
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536 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N
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538 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N
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546 | bus_watchdog | 1 | RW | RAM | -1 | 127 | Y
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548 | goal_pwm | 2 | RW | RAM | -2100 | 2100 | Y
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550 | goal_current | 2 | RW | RAM | -32768 | 32767 | Y
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552 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
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556 | profile_acceleration | 4 | RW | RAM | 0 | 32767 | N
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560 | profile_velocity | 4 | RW | RAM | 0 | 1023 | N
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564 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
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568 | realtime_tick | 2 | R | RAM | 0 | 32767 | N
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570 | moving | 1 | R | RAM | 0 | 1 | N
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571 | moving_status | 1 | R | RAM | 0 | 255 | N
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572 | present_pwm | 2 | R | RAM | -2100 | 2100 | Y
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574 | present_current | 2 | R | RAM | -32768 | 32767 | Y
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576 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
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580 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
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584 | velocity_trajectory | 4 | R | RAM | 0 | 1023 | N
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588 | position_trajectory | 4 | R | RAM | 0 | 4095 | N
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592 | present_voltage | 2 | R | RAM | 0 | 500 | N
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594 | present_temperature | 1 | R | RAM | 0 | 200 | N
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600 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
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602 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
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604 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
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606 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
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634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
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