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- added device file for MX-64 / MX-106

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ROBOTIS-zerom
2016-06-28 17:23:18 +09:00
parent 6318166216
commit e3381ca424
2 changed files with 126 additions and 0 deletions
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63
robotis_device/devices/dynamixel/MX-106.device Normal file
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[device info]
model_name = MX-106
device_type = dynamixel
[type info]
value_of_0_radian_position = 2048
value_of_min_radian_position = 0
value_of_max_radian_position = 4095
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_item_name = torque_enable
present_position_item_name = present_position
present_velocity_item_name = present_velocity
present_current_item_name =
goal_position_item_name = goal_position
goal_velocity_item_name = goal_velocity
goal_current_item_name =
position_d_gain_item_name = position_d_gain
position_i_gain_item_name = position_i_gain
position_p_gain_item_name = position_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed
0 | model_number | 2 | R | EEPROM | 0 | 65535 | N
2 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N
3 | ID | 1 | RW | EEPROM | 0 | 252 | N
4 | baudrate | 1 | RW | EEPROM | 0 | 252 | N
5 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
6 | CW_angle_limit | 2 | RW | EEPROM | 0 | 4095 | N
8 | CCW_angle_limit | 2 | RW | EEPROM | 0 | 4095 | N
10 | drive_mode | 1 | RW | EEPROM | 0 | 3 | N
11 | max_temperature_limit | 1 | RW | EEPROM | 0 | 99 | N
12 | min_voltage_limit | 1 | RW | EEPROM | 0 | 250 | N
13 | max_voltage_limit | 1 | RW | EEPROM | 0 | 250 | N
14 | max_torque | 2 | RW | EEPROM | 0 | 1023 | N
16 | status_return_level | 1 | RW | EEPROM | 0 | 2 | N
17 | alarm_LED | 1 | RW | EEPROM | 0 | 127 | N
18 | alarm_shutdown | 1 | RW | EEPROM | 0 | 127 | N
20 | multi_turn_offset | 2 | RW | EEPROM | -26624 | 26624 | Y
22 | resolution_dividor | 1 | RW | EEPROM | 1 | 255 | N
24 | torque_enable | 1 | RW | RAM | 0 | 1 | N
25 | LED | 1 | RW | RAM | 0 | 1 | N
26 | position_d_gain | 1 | RW | RAM | 0 | 254 | N
27 | position_i_gain | 1 | RW | RAM | 0 | 254 | N
28 | position_p_gain | 1 | RW | RAM | 0 | 254 | N
30 | goal_position | 2 | RW | RAM | -28672 | 28672 | Y
32 | goal_velocity | 2 | RW | RAM | 0 | 1023 | N
34 | goal_torque | 2 | RW | RAM | 0 | 1023 | N
36 | present_position | 2 | R | RAM | -32768 | 32767 | Y
38 | present_velocity | 2 | R | RAM | 0 | 2048 | N
40 | present_load | 2 | R | RAM | 0 | 2048 | N
42 | present_voltage | 1 | R | RAM | 50 | 250 | N
43 | present_temperature | 1 | R | RAM | 0 | 99 | N
44 | registered_instruction | 1 | R | RAM | 0 | 1 | N
46 | is_moving | 1 | R | RAM | 0 | 1 | N
47 | EEPROM_lock | 1 | RW | RAM | 0 | 1 | N
48 | punch | 2 | RW | RAM | 0 | 1023 | N
68 | current_consumption | 2 | RW | RAM | 0 | 4095 | N
70 | torque_control_mode | 1 | RW | RAM | 0 | 1 | N
71 | torque_control_goal | 2 | RW | RAM | 0 | 2047 | N
73 | goal_acceleration | 1 | RW | RAM | 0 | 254 | N

63
robotis_device/devices/dynamixel/MX-64.device Normal file
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[device info]
model_name = MX-64
device_type = dynamixel
[type info]
value_of_0_radian_position = 2048
value_of_min_radian_position = 0
value_of_max_radian_position = 4095
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_item_name = torque_enable
present_position_item_name = present_position
present_velocity_item_name = present_velocity
present_current_item_name =
goal_position_item_name = goal_position
goal_velocity_item_name = goal_velocity
goal_current_item_name =
position_d_gain_item_name = position_d_gain
position_i_gain_item_name = position_i_gain
position_p_gain_item_name = position_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed
0 | model_number | 2 | R | EEPROM | 0 | 65535 | N
2 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N
3 | ID | 1 | RW | EEPROM | 0 | 252 | N
4 | baudrate | 1 | RW | EEPROM | 0 | 252 | N
5 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
6 | CW_angle_limit | 2 | RW | EEPROM | 0 | 4095 | N
8 | CCW_angle_limit | 2 | RW | EEPROM | 0 | 4095 | N
10 | drive_mode | 1 | RW | EEPROM | 0 | 3 | N
11 | max_temperature_limit | 1 | RW | EEPROM | 0 | 99 | N
12 | min_voltage_limit | 1 | RW | EEPROM | 0 | 250 | N
13 | max_voltage_limit | 1 | RW | EEPROM | 0 | 250 | N
14 | max_torque | 2 | RW | EEPROM | 0 | 1023 | N
16 | status_return_level | 1 | RW | EEPROM | 0 | 2 | N
17 | alarm_LED | 1 | RW | EEPROM | 0 | 127 | N
18 | alarm_shutdown | 1 | RW | EEPROM | 0 | 127 | N
20 | multi_turn_offset | 2 | RW | EEPROM | -26624 | 26624 | Y
22 | resolution_dividor | 1 | RW | EEPROM | 1 | 255 | N
24 | torque_enable | 1 | RW | RAM | 0 | 1 | N
25 | LED | 1 | RW | RAM | 0 | 1 | N
26 | position_d_gain | 1 | RW | RAM | 0 | 254 | N
27 | position_i_gain | 1 | RW | RAM | 0 | 254 | N
28 | position_p_gain | 1 | RW | RAM | 0 | 254 | N
30 | goal_position | 2 | RW | RAM | -28672 | 28672 | Y
32 | goal_velocity | 2 | RW | RAM | 0 | 1023 | N
34 | goal_torque | 2 | RW | RAM | 0 | 1023 | N
36 | present_position | 2 | R | RAM | -32768 | 32767 | Y
38 | present_velocity | 2 | R | RAM | 0 | 2048 | N
40 | present_load | 2 | R | RAM | 0 | 2048 | N
42 | present_voltage | 1 | R | RAM | 50 | 250 | N
43 | present_temperature | 1 | R | RAM | 0 | 99 | N
44 | registered_instruction | 1 | R | RAM | 0 | 1 | N
46 | is_moving | 1 | R | RAM | 0 | 1 | N
47 | EEPROM_lock | 1 | RW | RAM | 0 | 1 | N
48 | punch | 2 | RW | RAM | 0 | 1023 | N
68 | current_consumption | 2 | RW | RAM | 0 | 4095 | N
70 | torque_control_mode | 1 | RW | RAM | 0 | 1 | N
71 | torque_control_goal | 2 | RW | RAM | 0 | 2047 | N
73 | goal_acceleration | 1 | RW | RAM | 0 | 254 | N