From 9997e6074dd1882da6ff7f39f78a25a427fb3668 Mon Sep 17 00:00:00 2001 From: ROBOTIS-Yang Date: Fri, 22 Mar 2024 11:45:03 +0900 Subject: [PATCH 1/3] Add DY en e-manual --- _includes/en/dxl/common_link.md | 39 ++ _includes/en/dxl/y/clear_packet.md | 57 +++ _includes/en/dxl/y/connector_y070.md | 12 + _includes/en/dxl/y/connector_y080.md | 12 + .../en/dxl/y/control_table_0_model_number.md | 1 + .../dxl/y/control_table_104_safe_stop_time.md | 9 + .../en/dxl/y/control_table_106_brake_delay.md | 9 + .../en/dxl/y/control_table_10_secondary_id.md | 29 ++ ...ontrol_table_110_overexcitation_voltage.md | 9 + .../dxl/y/control_table_11_protocol_type.md | 13 + ...ontrol_table_126_notch_filter_frequency.md | 11 + .../en/dxl/y/control_table_12_baud_rate.md | 20 + ...able_132_present_velocity_lpf_frequency.md | 8 + ...ol_table_134_goal_current_lpf_frequency.md | 8 + .../control_table_136_position_ff_lpf_time.md | 8 + .../control_table_138_velocity_ff_lpf_time.md | 8 + .../y/control_table_13_return_delay_time.md | 9 + .../y/control_table_152_controller_state.md | 17 + .../en/dxl/y/control_table_153_error_code.md | 37 ++ .../y/control_table_15_status_return_level.md | 12 + ...control_table_16_registered_instruction.md | 9 + .../en/dxl/y/control_table_170_gain_save.md | 13 + .../dxl/y/control_table_212_velocity_gain.md | 7 + .../dxl/y/control_table_224_position_gain.md | 8 + .../control_table_240_profile_acceleration.md | 6 + ...rol_table_248_profile_acceleration_time.md | 7 + .../y/control_table_2_model_information.md | 1 + .../en/dxl/y/control_table_32_drive_mode.md | 12 + .../dxl/y/control_table_33_operating_mode.md | 21 + .../control_table_34_startup_configuration.md | 15 + ...ntrol_table_38_position_limit_threshold.md | 7 + .../control_table_40_in_position_threshold.md | 7 + ...trol_table_44_following_error_threshold.md | 5 + .../y/control_table_48_moving_threshold.md | 5 + .../dxl/y/control_table_512_torque_enable.md | 19 + _includes/en/dxl/y/control_table_513_led.md | 20 + ...l_table_516_pwm_current_veloctiy_offset.md | 7 + .../en/dxl/y/control_table_524_goal_pwm.md | 5 + .../dxl/y/control_table_526_goal_current.md | 8 + .../dxl/y/control_table_528_goal_velocity.md | 10 + .../dxl/y/control_table_52_homing_offset.md | 7 + .../dxl/y/control_table_532_goal_position.md | 10 + .../dxl/y/control_table_541_moving_status.md | 14 + .../dxl/y/control_table_542_realtime_tick.md | 5 + .../en/dxl/y/control_table_544_present_pwm.md | 1 + .../y/control_table_546_present_current.md | 1 + .../y/control_table_548_present_velocity.md | 1 + .../y/control_table_552_present_position.md | 1 + .../control_table_560_position_trajectory.md | 1 + .../control_table_564_velocity_trajectory.md | 4 + ...control_table_568_present_input_voltage.md | 1 + .../y/control_table_56_temperature_limit.md | 14 + ..._table_570_present_inverter_temperature.md | 1 + ...rol_table_571_present_motor_temperature.md | 1 + .../dxl/y/control_table_60_voltage_limit.md | 14 + .../en/dxl/y/control_table_64_pwm_limit.md | 8 + .../dxl/y/control_table_66_current_limit.md | 9 + .../y/control_table_68_acceleration_limit.md | 1 + .../dxl/y/control_table_6_firmware_version.md | 1 + .../dxl/y/control_table_72_velocity_limit.md | 2 + .../dxl/y/control_table_76_position_limit.md | 7 + _includes/en/dxl/y/control_table_7_id.md | 8 + .../en/dxl/y/control_table_8_bus_watchdog.md | 22 + .../dxl/y/control_table_919_backup_ready.md | 1 + ...able_96_electronic_gear_ratio_numerator.md | 15 + ...ontrol_table_torque_on_off_timing_chart.md | 6 + .../dxl/y/control_table_ym070_210_m001_rh.md | 113 +++++ _includes/en/dxl/y/first_warning.md | 7 + _includes/en/dxl/y/output_bearing_y.md | 89 ++++ _includes/en/dxl/y/specifications_y.md | 34 ++ _includes/en/dxl/y/uart_connection_y.md | 15 + _includes/en/dxl/y/y_control_table.md | 62 +++ _includes/en/dxl/y/y_profile_description.md | 47 ++ _includes/en/dxl/y/y_warning.md | 67 +++ .../dxl/y/brtterry_replacement_guide_en.png | Bin 0 -> 695312 bytes assets/images/dxl/y/dxl_y_productline_en.png | Bin 0 -> 239382 bytes assets/images/dxl/y/dy_equation_1_en.jpg | Bin 0 -> 14005 bytes assets/images/dxl/y/operating_mode_1_en.png | Bin 0 -> 122448 bytes assets/images/dxl/y/operating_mode_2_en.png | Bin 0 -> 133575 bytes assets/images/dxl/y/operating_mode_3_en.png | Bin 0 -> 187143 bytes docs/en/dxl/y/y.md | 76 +++ docs/en/dxl/y/ym070-210-m001-rh.md | 450 +++++++++++++++++ docs/en/dxl/y/ym070-210-r051-rh.md | 453 ++++++++++++++++++ docs/en/dxl/y/ym070-210-r099-rh.md | 451 +++++++++++++++++ docs/en/dxl/y/ym080-230-m001-rh.md | 448 +++++++++++++++++ docs/en/dxl/y/ym080-230-r051-rh.md | 451 +++++++++++++++++ docs/en/dxl/y/ym080-230-r099-rh.md | 452 +++++++++++++++++ 87 files changed, 3891 insertions(+) create mode 100644 _includes/en/dxl/y/clear_packet.md create mode 100644 _includes/en/dxl/y/connector_y070.md create mode 100644 _includes/en/dxl/y/connector_y080.md create mode 100644 _includes/en/dxl/y/control_table_0_model_number.md create mode 100644 _includes/en/dxl/y/control_table_104_safe_stop_time.md create mode 100644 _includes/en/dxl/y/control_table_106_brake_delay.md create mode 100644 _includes/en/dxl/y/control_table_10_secondary_id.md create mode 100644 _includes/en/dxl/y/control_table_110_overexcitation_voltage.md create mode 100644 _includes/en/dxl/y/control_table_11_protocol_type.md create mode 100644 _includes/en/dxl/y/control_table_126_notch_filter_frequency.md create mode 100644 _includes/en/dxl/y/control_table_12_baud_rate.md create mode 100644 _includes/en/dxl/y/control_table_132_present_velocity_lpf_frequency.md create mode 100644 _includes/en/dxl/y/control_table_134_goal_current_lpf_frequency.md create mode 100644 _includes/en/dxl/y/control_table_136_position_ff_lpf_time.md create mode 100644 _includes/en/dxl/y/control_table_138_velocity_ff_lpf_time.md create mode 100644 _includes/en/dxl/y/control_table_13_return_delay_time.md create mode 100644 _includes/en/dxl/y/control_table_152_controller_state.md create mode 100644 _includes/en/dxl/y/control_table_153_error_code.md create mode 100644 _includes/en/dxl/y/control_table_15_status_return_level.md create mode 100644 _includes/en/dxl/y/control_table_16_registered_instruction.md create mode 100644 _includes/en/dxl/y/control_table_170_gain_save.md create mode 100644 _includes/en/dxl/y/control_table_212_velocity_gain.md create mode 100644 _includes/en/dxl/y/control_table_224_position_gain.md create mode 100644 _includes/en/dxl/y/control_table_240_profile_acceleration.md create mode 100644 _includes/en/dxl/y/control_table_248_profile_acceleration_time.md create mode 100644 _includes/en/dxl/y/control_table_2_model_information.md create mode 100644 _includes/en/dxl/y/control_table_32_drive_mode.md create mode 100644 _includes/en/dxl/y/control_table_33_operating_mode.md create mode 100644 _includes/en/dxl/y/control_table_34_startup_configuration.md create mode 100644 _includes/en/dxl/y/control_table_38_position_limit_threshold.md create mode 100644 _includes/en/dxl/y/control_table_40_in_position_threshold.md create mode 100644 _includes/en/dxl/y/control_table_44_following_error_threshold.md create mode 100644 _includes/en/dxl/y/control_table_48_moving_threshold.md create mode 100644 _includes/en/dxl/y/control_table_512_torque_enable.md create mode 100644 _includes/en/dxl/y/control_table_513_led.md create mode 100644 _includes/en/dxl/y/control_table_516_pwm_current_veloctiy_offset.md create mode 100644 _includes/en/dxl/y/control_table_524_goal_pwm.md create mode 100644 _includes/en/dxl/y/control_table_526_goal_current.md create mode 100644 _includes/en/dxl/y/control_table_528_goal_velocity.md create mode 100644 _includes/en/dxl/y/control_table_52_homing_offset.md create mode 100644 _includes/en/dxl/y/control_table_532_goal_position.md create mode 100644 _includes/en/dxl/y/control_table_541_moving_status.md create mode 100644 _includes/en/dxl/y/control_table_542_realtime_tick.md create mode 100644 _includes/en/dxl/y/control_table_544_present_pwm.md create mode 100644 _includes/en/dxl/y/control_table_546_present_current.md create mode 100644 _includes/en/dxl/y/control_table_548_present_velocity.md create mode 100644 _includes/en/dxl/y/control_table_552_present_position.md create mode 100644 _includes/en/dxl/y/control_table_560_position_trajectory.md create mode 100644 _includes/en/dxl/y/control_table_564_velocity_trajectory.md create mode 100644 _includes/en/dxl/y/control_table_568_present_input_voltage.md create mode 100644 _includes/en/dxl/y/control_table_56_temperature_limit.md create mode 100644 _includes/en/dxl/y/control_table_570_present_inverter_temperature.md create mode 100644 _includes/en/dxl/y/control_table_571_present_motor_temperature.md create mode 100644 _includes/en/dxl/y/control_table_60_voltage_limit.md create mode 100644 _includes/en/dxl/y/control_table_64_pwm_limit.md create mode 100644 _includes/en/dxl/y/control_table_66_current_limit.md create mode 100644 _includes/en/dxl/y/control_table_68_acceleration_limit.md create mode 100644 _includes/en/dxl/y/control_table_6_firmware_version.md create mode 100644 _includes/en/dxl/y/control_table_72_velocity_limit.md create mode 100644 _includes/en/dxl/y/control_table_76_position_limit.md create mode 100644 _includes/en/dxl/y/control_table_7_id.md create mode 100644 _includes/en/dxl/y/control_table_8_bus_watchdog.md create mode 100644 _includes/en/dxl/y/control_table_919_backup_ready.md create mode 100644 _includes/en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md create mode 100644 _includes/en/dxl/y/control_table_torque_on_off_timing_chart.md create mode 100644 _includes/en/dxl/y/control_table_ym070_210_m001_rh.md create mode 100644 _includes/en/dxl/y/first_warning.md create mode 100644 _includes/en/dxl/y/output_bearing_y.md create mode 100644 _includes/en/dxl/y/specifications_y.md create mode 100644 _includes/en/dxl/y/uart_connection_y.md create mode 100644 _includes/en/dxl/y/y_control_table.md create mode 100644 _includes/en/dxl/y/y_profile_description.md create mode 100644 _includes/en/dxl/y/y_warning.md create mode 100644 assets/images/dxl/y/brtterry_replacement_guide_en.png create mode 100644 assets/images/dxl/y/dxl_y_productline_en.png create mode 100644 assets/images/dxl/y/dy_equation_1_en.jpg create mode 100644 assets/images/dxl/y/operating_mode_1_en.png create mode 100644 assets/images/dxl/y/operating_mode_2_en.png create mode 100644 assets/images/dxl/y/operating_mode_3_en.png create mode 100644 docs/en/dxl/y/y.md create mode 100644 docs/en/dxl/y/ym070-210-m001-rh.md create mode 100644 docs/en/dxl/y/ym070-210-r051-rh.md create mode 100644 docs/en/dxl/y/ym070-210-r099-rh.md create mode 100644 docs/en/dxl/y/ym080-230-m001-rh.md create mode 100644 docs/en/dxl/y/ym080-230-r051-rh.md create mode 100644 docs/en/dxl/y/ym080-230-r099-rh.md diff --git a/_includes/en/dxl/common_link.md b/_includes/en/dxl/common_link.md index 207dcd8bc..10d3d64ec 100644 --- a/_includes/en/dxl/common_link.md +++ b/_includes/en/dxl/common_link.md @@ -69,6 +69,45 @@ [Goal Position(564)]: #goal-position564 [Velocity Limit(44)]: #velocity-limit44 + + +[Status Return Level(15)]: status-return-level15 +[Drive Mode(32)]: #drive-mode32 +[Operating Mode(33)]: #operating-mode33 +[Position Limit Threshold(38)]: #position-limit-threshold38 +[Following Error Threshold(44)]: #following-error-threshold44 +[Inverter Temperature Limit(56)]: #invertermotor-temperature-limit56-57 +[Motor Temperature Limit(57)]: #invertermotor-temperature-limit56-57 +[Max Voltage Limit(60)]: #maxmin-voltage-limit60-62 +[Min Voltage Limit(62)]: #maxmin-voltage-limit60-62 +[Max/Min Voltage Limit(60, 62)]: #maxmin-voltage-limit60-62 +[PWM Limit(64)]: #pwm-limit64 +[Current Limit(66)]: #current-limit66 +[Stuatus Return Level (68)]: #stuatus-returnlevel68 +[Velocity Limit(72)]: #velocity-limit72 +[Max position limit(76)]: #maxmin-position-limit76-84 +[Min Position limit(84)]: #maxmin-position-limit76-84 +[Gear Ratio Num(96)/Den(100)]: #electronic-gear-ratio-numeratordenominator96-100 +[Controller State(152)]: #controller-state152 +[Error Code(153)]: #error-code153 +[Gain Save(170)]: #gain-save170 +[Profile Acceleration(240)]: #profile-acceleration240-profile-velocity244 +[Profile Velocity(244)]: #profile-acceleration240-profile-velocity244 +[Torque Enable(512)]: #torque-enable512 +[Goal PWM(524)]: #goal-pwm524 +[Goal Current(526)]: #goal-current526 +[Goal Velocity(528)]: #goal-velocity528 +[Goal Position(532)]: #goal-position532 +[Moving Status(541)]: #moving-status541 +[Present Velocity(548)]: #present-velocity548 +[Present Position(552)]: #present-position552 +[Position Trajectory(560)]: #position-trajectory560 +[Velocity Trajectory(564)]: #velocity-trajectory564 +[Present Input Voltage(568)]: #present-input-voltage568 +[Present Inverter Temperature(570)]: #present-inverter-temperature570 +[Present Motor Temperature(571)]: #present-motor-temperature571 +[Error Clear Packet]: #error-clear-packet + [Compatibility Guide]: http://en.robotis.com/service/compatibility_table.php?cate=dx diff --git a/_includes/en/dxl/y/clear_packet.md b/_includes/en/dxl/y/clear_packet.md new file mode 100644 index 000000000..99b36256c --- /dev/null +++ b/_includes/en/dxl/y/clear_packet.md @@ -0,0 +1,57 @@ +| Packet Type | P1 | P2 ~ P5 | Description | +|:----------------:|:----:|:--------------------------------------:|:--------------------------------------------------------------------------------| +| Multi-Turn Clear | 0x01 | Fixed value
(0x44 0x58 0x4C 0x22) | Sets the current position (Present Position) value to an absolute position within one revolution based on the motor. Can be cleared only when the motor is not in motion.
If the Clear Instruction Packet is sent while Torque Enable is active, the Error field in the Status Packet will display Result Fail (0x01). | +| Error Clear | 0x02 | Fixed value
(0x45 0x52 0x43 0x4C) | Clear errors that occurred in DYNAMIXEL.
If an error cannot be cleared or the conditions for clearance are not met, the error remains uncleared, and Result Fail (0x01) is displayed in the Error field of the Status Packet. | + + + +## [Multi-Turn Clear Packet](#multi-turn-clear-packet) + +DYNAMIXEL-Y is capable of backing up Multi-Turn information, ensuring that it is preserved even after a power outage. A Multi-Turn Clear Packet is required to reset this value. After Multi-Turn Clear, DYNAMIXEL will undergo a reboot. +After replacing the Multi-Turn backup battery, it is essential to perform this process to ensure normal operation. + + +**Note**: Multi-Turn Clear resets the absolute position value to within one motor revolution. Models with an attached reducer may lose their reducer-based absolute position. Please set the absolute position of the reducer to 0 and proceed with Multi-Turn Clear. +{: .notice} + +### [Multi-Turn Clear Method](#multi-turn-clear-method) + +![](/assets/images/dxl/y/multi-turn_clear_guide.PNG) + +1. Click the 'Packet' button at the top of DYNAMIXEL Wizard 2.0 to open the packet window. If connected to DYNAMIXEL, click 'Disconnect' to terminate the connection. +2. Set the COM Port and Baud Rate, then click the 'Open' button. +3. Select 'Clear Instruction' from the Instruction tab. +4. Enter the correct DYNAMIXEL ID and click the 'Send' button to transmit the packet. +5. Wait until the Status Packet is received. Check the received packet for errors. + + +**Note**: For more detailed information, please refer to [DYNAMIXEL Wizard 2.0] and [DYNAMIXEL Protocol 2.0] +{: .notice} + +## [Error Clear Packet](#error-clear-packet) + +If an error occurs in DYNAMIXEL-Y, it can be cleared. +If the [Error Code(153)] is not 0, Error Clear can be initialized using the [Clear Instruction Packet]. If initialization is not possible, the Error field in the Status Packet will result in Fail (0x01). + +# [Multi-Turn backup Battery Replacement](#multi-turn-backup-battery-replacement) + +DYNAMIXEL-Y features an internal battery for Multi-Turn Position Backup. After replacing the battery, it is necessary to perform the Multi-Turn Clear operation to reset the Multi-Turn settings for proper operation. + +## [Procedure for Battery Replacement](#procedure-for-battery-replacement) + +![](/assets/images/dxl/y/brtterry_replacement_guide_en.PNG) + +1. Prepare the DYNAMIXEL-Y and a new battery. +2. After supplying power and searching for DYNAMIXEL-Y through DYNAMIXEL Wizard 2.0, click + Tools → Encoder Battery Replacement menu. +3. In the case of a reducer model, check if the origin position matches and click the Next button. + (If the origin position doesn't match, please adjust it accordingly.) +4. Open the battery cover, replace it with a new battery, close the cover, and click the Next button. +5. Wait for the operation to proceed. +6. Once finished, exit the menu by clicking the OK button. + + + +[DYNAMIXEL Wizard 2.0]: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/ +[Dynamixel Protocol 2.0]: https://emanual.robotis.com/docs/en/dxl/protocol2/ +[Clear Instruction Packet]: https://emanual.robotis.com/docs/en/dxl/protocol2/#clear-0x10 \ No newline at end of file diff --git a/_includes/en/dxl/y/connector_y070.md b/_includes/en/dxl/y/connector_y070.md new file mode 100644 index 000000000..eadd0447e --- /dev/null +++ b/_includes/en/dxl/y/connector_y070.md @@ -0,0 +1,12 @@ + +| Item | RS-485 | | Power | | +|:------------:|:-----------------------------------------------------:|:-------:|:------------------------------------------------------------------------------------------:|:--:| +| Pinout | `1` DATA+
`2` DATA- | | `1` GND
`2` VDD | +| Diagram | ![](/assets/images/dxl/y/molex_505565-0200_diagram.jpg) | ![](/assets/images/dxl/y/molex_39500-0002_diagram.jpg) | ![](/assets/images/dxl/y/molex_39503-2002_diagram.jpg) | ![](/assets/images/dxl/y/molex_39503-3002_diagram.jpg) | +| Housing | ![](/assets/images/dxl/y/molex_505565-0200.jpg)
Molex 505565-0200 | S/T type
![](/assets/images/dxl/y/molex_39500-0002.jpg)
Molex 39500-0002 | R/A type 1
![](/assets/images/dxl/y/molex_39503-2002.jpg)
Molex 39503-2002 | R/A type 2
![](/assets/images/dxl/y/molex_39503-3002.jpg)
Molex 39503-3002 | +| PCB Header | ![](/assets/images/dxl/y/molex_505568-0381.jpg)
Molex 505568-0381 | | ![](/assets/images/dxl/y/molex_39501-1002.jpg)
Molex 39501-1002 | | +| Crimp Terminal | ![](/assets/images/dxl/y/molex_504185-1000.png)
Molex 504185-1000 | | ![](/assets/images/dxl/y/option_ce007508.png)
(Option) CE007508(0.75SQ, L14, P8) | | +| Wire Specification | 26 AWG | | 20 AWG | | + +**Caution**: Before operation, ensure that 24V power is supplied through the power port. During setup, take special care to ensure that the polarity of all connections are correct. Incorrect connection may result in serious damage to the DYNAMIXEL. +{: .notice--warning} \ No newline at end of file diff --git a/_includes/en/dxl/y/connector_y080.md b/_includes/en/dxl/y/connector_y080.md new file mode 100644 index 000000000..32aa84615 --- /dev/null +++ b/_includes/en/dxl/y/connector_y080.md @@ -0,0 +1,12 @@ + +| Item | RS-485 | | Power | | +|:------------:|:-----------------------------------------------------:|:-------:|:------------------------------------------------------------------------------------------:|:--:| +| Pinout | `1` DATA+
`2` DATA- | | `1` GND
`2` VDD | +| Diagram | ![](/assets/images/dxl/y/molex_505565-0200_diagram.jpg) | ![](/assets/images/dxl/y/molex_39500-0002_diagram.jpg) | ![](/assets/images/dxl/y/molex_39503-2002_diagram.jpg) | ![](/assets/images/dxl/y/molex_39503-3002_diagram.jpg) | +| Housing | ![](/assets/images/dxl/y/molex_505565-0200.jpg)
Molex 505565-0200 | S/T type
![](/assets/images/dxl/y/molex_39530-0002.jpg)
Molex 39530-0002 | R/A type 1
![](/assets/images/dxl/y/molex_39533-2002.jpg)
Molex 39533-2002 | R/A type 2
![](/assets/images/dxl/y/molex_39533-3002.jpg)
Molex 39533-3002 | +| PCB Header | ![](/assets/images/dxl/y/molex_505568-0381.jpg)
Molex 505568-0381 | | ![](/assets/images/dxl/y/molex_39531-1002.jpg)
Molex 39531-1002 | | +| Crimp Terminal | ![](/assets/images/dxl/y/molex_504185-1000.png)
Molex 504185-1000 | | ![](/assets/images/dxl/y/option_ce010010.png)
(Option) CE010010(1.0SQ, L16, P10) | | +| Wire Specification | 26 AWG | | 20 AWG | | + +**Caution**: Before operation, ensure that 24V power is supplied through the power port. During setup, take special care to ensure that the polarity of all connections are correct. Incorrect connection may result in serious damage to the DYNAMIXEL. +{: .notice--warning} diff --git a/_includes/en/dxl/y/control_table_0_model_number.md b/_includes/en/dxl/y/control_table_0_model_number.md new file mode 100644 index 000000000..3af58e77a --- /dev/null +++ b/_includes/en/dxl/y/control_table_0_model_number.md @@ -0,0 +1 @@ +The DYNAMIXEL model number. diff --git a/_includes/en/dxl/y/control_table_104_safe_stop_time.md b/_includes/en/dxl/y/control_table_104_safe_stop_time.md new file mode 100644 index 000000000..51650c037 --- /dev/null +++ b/_includes/en/dxl/y/control_table_104_safe_stop_time.md @@ -0,0 +1,9 @@ +When the value of [Torque Enable(512)] is changed from '1' (Torque ON) to '0' (Torque OFF), the device stops its operation and cuts off the signal supplied to the inverter. If the device is rotating, it slows the rotation speed to zero according to the duration specified by Safe Stop Time (104) to prevent damage. + +| Unit | Range | Initial Value | +|:----:|:------------:|:-------------:| +| [ms] | 0 ~ 32,767 | 200 | + + +**Note** : In Current Control mode, only Dynamic Brake deceleration is used. +{: .notice} diff --git a/_includes/en/dxl/y/control_table_106_brake_delay.md b/_includes/en/dxl/y/control_table_106_brake_delay.md new file mode 100644 index 000000000..422bfbf97 --- /dev/null +++ b/_includes/en/dxl/y/control_table_106_brake_delay.md @@ -0,0 +1,9 @@ +Sets the delay time until Brake operation and Goal Update are activated. + +| Address| Label | Unit | Range | Description | +|:------:|:-----------------:|:----:|:----------:|:-------------------------------------------------------------------------------------------| +| 106 | Brake Delay | [ms] | 0 ~ 32,767 |Torque ON: Brake Release occurs after Brake Delay (106)[ms] from the time that the [Torque Enable(512)] value is changed to 1.
Torque OFF: The controller turns OFF 100[ms] after the Brake Lock is enabled. | +| 108 | Goal Update Delay | [ms] | 0 ~ 32,767 | Update of Goal Position, Velocity, Current, and PWM values begins after Goal Update Delay(108)[ms] from the point of Brake Release. | + + + diff --git a/_includes/en/dxl/y/control_table_10_secondary_id.md b/_includes/en/dxl/y/control_table_10_secondary_id.md new file mode 100644 index 000000000..240d15af4 --- /dev/null +++ b/_includes/en/dxl/y/control_table_10_secondary_id.md @@ -0,0 +1,29 @@ +The Secondary ID (10) is used to identify devices, similar to ID (7). +There are several important differences between ID (7)and Secondary ID (10): +1. The Secondary ID does not need to be a unique value. This means that multiple devices can share the same Secondary ID value, allowing the creation of device groups. +2. The primary ID has a higher priority than the Secondary ID. If the Secondary ID and ID are the same, the primary ID takes precedence. +You cannot use the Secondary ID to change values in the EEPROM area of the control table. Only values in the RAM area can be changed. +3. If a command is sent to a servo’s Secondary ID, no Status Packet will be returned. +4. If the value of the Secondary ID is 253 or higher, the Secondary ID functionality is disabled. + + +| Value | Description | +|:---------:|:----------------------------------------------------------| +| 0 ~ 252 | Enable Secondary ID function | +| 253 ~ 255 | Disable Secondary ID function,
Default value : ‘255’ | + +Here is an example scenario with 5 devices with IDs (7) ranging from 1 to 5: + +{% capture secondary_id_ex1 %} +1. Set the Secondary ID (12) to '5' for all 5 devices. +2. Send a Write Instruction Packet (ID = 1, LED (513) = 255). +3. The device with ID '1' turns on its LED and returns a Status Packet. +4. Send a Write Instruction Packet (ID = 5, LED (513) = 255): +5. All 5 devices turn on their LEDs. +6. However, only device ID '5' returns a Status Packet. +7. Set the Secondary ID (12) to '100' for all 5 devices. +8. Send a Write Instruction Packet (ID = 100, LED (513) = 0): All 5 devices turn off their LEDs. Since there is no device with ID '100', no Status Packet is returned. +{% endcapture %} + +
{{ secondary_id_ex1 | markdownify }}
+ diff --git a/_includes/en/dxl/y/control_table_110_overexcitation_voltage.md b/_includes/en/dxl/y/control_table_110_overexcitation_voltage.md new file mode 100644 index 000000000..249aa6442 --- /dev/null +++ b/_includes/en/dxl/y/control_table_110_overexcitation_voltage.md @@ -0,0 +1,9 @@ +These are the values for controlling the brake input voltage. According to the brake demand value, set the Overexcitation Voltage(110), Normal Excitation Voltage(111), and Overexcitation Time(112) in the timing chart below. + +![](/assets/images/dxl/y/overexcitation_voltage.PNG) + +| item | Unit | Range | +|:-------------------------------|:---------|:-----------| +| Overexcitation Voltage(110) | 1.0 [%] | 0 ~ 100 | +| Normal Excitation Voltage(111) | 1.0 [%] | 0 ~ 100 | +| Overexcitation Time(112) | 1.0 [ms] | 0 ~ 32,767 | diff --git a/_includes/en/dxl/y/control_table_11_protocol_type.md b/_includes/en/dxl/y/control_table_11_protocol_type.md new file mode 100644 index 000000000..48d5e6c09 --- /dev/null +++ b/_includes/en/dxl/y/control_table_11_protocol_type.md @@ -0,0 +1,13 @@ +The communications protocol of the DYNAMIXEL can be set to either "DYNAMIXEL Protocol 2.0" or "Modbus-RTU." The Modbus-RTU will be supported in the future. + +| Value | Description | +|:-------:|:------------------------------------------------------------------| +| 2 | [DYNAMIXEL Protocol 2.0] | +| 10(TBD) | [Modbus-RTU, Industrial Standard Protocol] | + +[DYNAMIXEL Protocol 2.0]: /docs/en/dxl/protocol2/ +[Modbus-RTU, Industrial Standard Protocol]: http://modbus.org/docs/PI_MBUS_300.pdf + +**Note** : The Modbus-RTU Protocol will be available for DYNAMIXEL servos in the future. +{: .notice} + diff --git a/_includes/en/dxl/y/control_table_126_notch_filter_frequency.md b/_includes/en/dxl/y/control_table_126_notch_filter_frequency.md new file mode 100644 index 000000000..06f1a2c6b --- /dev/null +++ b/_includes/en/dxl/y/control_table_126_notch_filter_frequency.md @@ -0,0 +1,11 @@ +목표 전류 Value의 Notch Filter의 설정 Value입니다. Notch Filter를 사용하면 특정 주파수의 신호를 제거할 수 있습니다. 시스템 공진 주파수 등 시스템의 제어 성능 하락을 유발하는 주파수를 제거함으로써 제어 성능을 향상시킬 수 있습니다. + +| 컨트롤 테이블 item | Unit | Range | +|:----------------------------|:------|:------------------| +| Notch Filter Frequency(126) | [Hz] | 0 ~ 2,147,483,647 | +| Notch Filter Bandwidth(128) | [Hz] | 0 ~ 2,147,483,647 | +| Notch Filter Depth(130) | - | 0 ~ 2,147,483,647 | + +![](/assets/images/dxl/y/notch_filter_frequency.PNG) + +**Note** : Notch Filter Depth(130) Value이 커질수록 Phase가 급격하게 변하게 되어 시스템의 발산을 유발할 수 있습니다. Notch Filter Depth(130) Value을 조금씩 키우면서 설정하시기 바랍니다. \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_12_baud_rate.md b/_includes/en/dxl/y/control_table_12_baud_rate.md new file mode 100644 index 000000000..3683e22bf --- /dev/null +++ b/_includes/en/dxl/y/control_table_12_baud_rate.md @@ -0,0 +1,20 @@ +제어기와 RS485통신하기 위한 통신 속도 입니다. + +| Value | Baud Rate
[bps] | Actual Baud Rate
[bps] | Error Rate
[%] | +|:---------------:|:---------------------:|:-------------------------:|:------------------:| +| 9 | 10.5M | 10,500,000 | 0.000 | +| 8 | 6M | 6,000,000 | 0.000 | +| 7 | 4.5M | 4,421,053 | -1.176 | +| 6 | 4M | 4,000,000 | 0.000 | +| 5 | 3M | 3,000,000 | 0.000 | +| 4 | 2M | 2,000,000 | 0.000 | +| 3 | 1M | 1,000,000 | 0.000 | +| 2 | 115,200 | 115,226 | 0.023 | +| 1 (Default) | 57,600 | 57,613 | 0.023 | +| 0 | 9,600 | 9,600 | 0.000 | + +**Caution** : Communication between the controller and the device requires a Baud rate error margin under 3[%]. +{: .notice--warning} + +**Note** : When using a U2D2, to ensure stable communication at higher Baud rates, please reduce the [response latency of the USB port](/docs/en/software/dynamixel/dynamixel_wizard2/#graph-optimization) +{: .notice} diff --git a/_includes/en/dxl/y/control_table_132_present_velocity_lpf_frequency.md b/_includes/en/dxl/y/control_table_132_present_velocity_lpf_frequency.md new file mode 100644 index 000000000..d3c02f23a --- /dev/null +++ b/_includes/en/dxl/y/control_table_132_present_velocity_lpf_frequency.md @@ -0,0 +1,8 @@ +The frequency of the Low-Pass Filter used for [Present Velocity(548)]. This is the setting value of [Present Velocity Filter] in the block diagram of the Operating Mode(33). Adjusting this value can lead to improved control performance if there is noise in the calculated current velocity value. + +| Unit | Range | +|:---------|:-----------| +| 0.1[Hz] | 0 ~ 65,535 | + + +[Present Velocity Filter]: #operating-mode \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_134_goal_current_lpf_frequency.md b/_includes/en/dxl/y/control_table_134_goal_current_lpf_frequency.md new file mode 100644 index 000000000..92816c25a --- /dev/null +++ b/_includes/en/dxl/y/control_table_134_goal_current_lpf_frequency.md @@ -0,0 +1,8 @@ +The frequency of the Low-Pass Filter for Target Current. This is the setting value of [Goal Current Filter] in the block diagram of the Operating Mode(33). Control performance can be improved by reducing the frequency that causes a decrease in system control performance. + +| Unit | Range | +|:---------|:-----------| +| 0.1[Hz] | 0 ~ 65,535 | + + +[Goal Current Filter]: #operating-mode \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_136_position_ff_lpf_time.md b/_includes/en/dxl/y/control_table_136_position_ff_lpf_time.md new file mode 100644 index 000000000..08e7c416a --- /dev/null +++ b/_includes/en/dxl/y/control_table_136_position_ff_lpf_time.md @@ -0,0 +1,8 @@ +The frequency of the Low-Pass Filter for Feedforward value of the Position Controller. Control performance can be improved by reducing the frequency that causes a decrease in system control performance. + + +| Unit | Range | +|:---------|:--------| +| 0.2[ms] | 0 ~ 512 | + +![](/assets/images/dxl/y/position_ff_lpf_frequency.PNG) \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_138_velocity_ff_lpf_time.md b/_includes/en/dxl/y/control_table_138_velocity_ff_lpf_time.md new file mode 100644 index 000000000..2508e80e5 --- /dev/null +++ b/_includes/en/dxl/y/control_table_138_velocity_ff_lpf_time.md @@ -0,0 +1,8 @@ +The frequency of the Low-Pass Filter for the Feedforward value of the Velocity Controller. Control performance can be improved by reducing the frequency that causes a decrease in system control performance. + + +| Unit | Range | +|:---------|:--------| +| 0.2[ms] | 0 ~ 512 | + +![](/assets/images/dxl/y/velocity_ff_lpf_frequency.PNG) \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_13_return_delay_time.md b/_includes/en/dxl/y/control_table_13_return_delay_time.md new file mode 100644 index 000000000..00b8e347c --- /dev/null +++ b/_includes/en/dxl/y/control_table_13_return_delay_time.md @@ -0,0 +1,9 @@ +Upon receiving an Instruction Packet, DYNAMIXEL servos wait for the Return Delay Time (9) to elapse before returning a Status Packet. The Return Delay Time can be set from 0 to 254, in units of 2 [μsec]. +For example, if the value is set to 10, the Status Packet will be returned after a delay of 20 [μsec]. + + +| Unit | Range | Description | +|:--------:|:-------:|:----------------------------------------------------:| +| 2 [μsec] | 0 ~ 254 | Default: ‘250’ (500[us])
Maximum: ‘254’ (508[us]) | + + diff --git a/_includes/en/dxl/y/control_table_152_controller_state.md b/_includes/en/dxl/y/control_table_152_controller_state.md new file mode 100644 index 000000000..62341010d --- /dev/null +++ b/_includes/en/dxl/y/control_table_152_controller_state.md @@ -0,0 +1,17 @@ +This indicates the current state of the internal controller. + +| Value | Label | Description | +|:-----:|:-------------------:|:-----------------------------------------------------------| +| 0 | Start | Power has been supplied to the device. | +| 1 | Init System | Device initialization in progress. | +| 2 | Inverter OFF | Torque OFF state. The inverter is turned OFF. | +| 3 | Dynamic Brake | Torque OFF state. Dynamic Brake is active. | +| 4 | Process Torque ON | Torque ON operation in progress. | +| 5 | Running | Torque ON state. | +| 6 | Process Torque OFF | Torque OFF operation in progress. | +| 7 | Detected HW Fault | Hardware issue detected. | +| 8 | HW Fault | Hardware issue. The issue can be identified through the [Error Code(153)]. | + + +**Note** : When the value of Controller State(152) is Process Torque On(4), Process Torque Off(6), writing values to [Torque Enable(512)], [Goal PWM(524)], [Goal Current(526)], [Goal Velocity(528)], [Goal Position(532)] will result in a "Result Fail" return. +{: .notice} diff --git a/_includes/en/dxl/y/control_table_153_error_code.md b/_includes/en/dxl/y/control_table_153_error_code.md new file mode 100644 index 000000000..bfe71eb23 --- /dev/null +++ b/_includes/en/dxl/y/control_table_153_error_code.md @@ -0,0 +1,37 @@ +This represents the code for the issue occurring in the device. The list of errors that may occur in the device is as follows: + +| Value | Label | Torque ON | *Hold | Error Clear | Description | +|:-----:|:----------------------------:|:---------:|:-----:|:-----------:|:---------------------------------------------------------------------------| +| 0 | No Error | - | - | - | No error | +| 1 | Over Voltage Error | N | - | Y | Device supply voltage exceeds the Max [Voltage Limit(60)] | +| 2 | Low Voltage Error | N | - | Y | Device supply voltage exceeds the Min [Voltage Limit(62)] | +| 3 | Inverter Overheating Error | N | - | Y | The inverter temperature has exceeded the [Inverter Temperature Limit(56)] | +| 4 | Motor Overheating Error | N | - | Y | The motor temperature has exceeded the [Motor Temperature Limit(57)]. | +| 5 | Overload Error | N | - | Y | Operating current exceeding rated current for an extended duration | +| 7 | Inverter Error | N | - | N | An issue has occurred with the inverter | +| 9 | Battery Warning | Y | N | N | Low Multi-Turn battery voltage. Replacement recommended | +| 10 | Batter Error | N | - | N | Multi-Turn battery voltage is too low, causing issues | +| 11 | Magnet Error | N | - | N | Multi-Turn position lost. Multi-Turn reset required | +| 12 | Multi-Turn Error | N | - | N | An issue has occurred with the Multi-Turn IC | +| 13 | Encoder Error | N | - | N | An issue has occurred with the Encoder IC | +| 14 | Hall Sensor Error | N | - | N | An issue has occurred with the Hall Sensor | +| 15 | Calibration Error | N | - | N | Cannot find calibration Data | +| 17 | Following Error | Y | Y | Y | Position control error exceeds the [Following Error Threshold(44)] | +| 18 | Bus Watchdog Error | Y | Y | Y | An issue has occurred with the Bus Watchdog | +| 19 | Over Speed Error | Y | Y | Y | Rotates at a speed of 120% or more than the [Velocity Limit(72)] | +| 20 | Position Limit Reached Error | Y | Y | Y | In position control mode, the current position has moved
beyond the Max/Min [Position Limit(76, 84)] + [Position Limit Threshold(38)] range. | + + +**Note** : *Hold status indicates that Goal Value Write is not possible while Torque is On. In position and velocity control modes, the current position is maintained after deceleration and stop, while in current control mode, it is in Dynamic Brake mode. +{: .notice} + + +#### [How to Clear Error](#how-to-clear-error) + +If an error occurs in the device, errors that can be cleared can be resolved using the methods below. +1. Error Clear Packet: Errors that can be cleared can be reset using the [Error Clear Packet]. +2. DYNAMIXEL Wizard 2.0: You can clear the error by pressing the Clear button located next to the Error Code on the right. + + +![](/assets/images/dxl/y/clear_error.png) + diff --git a/_includes/en/dxl/y/control_table_15_status_return_level.md b/_includes/en/dxl/y/control_table_15_status_return_level.md new file mode 100644 index 000000000..6b586e4f3 --- /dev/null +++ b/_includes/en/dxl/y/control_table_15_status_return_level.md @@ -0,0 +1,12 @@ +Determines how the Status Packet is returned. + +| Value | Responding Command | Description | +|:--:|:-----------------------------------------:|:--------------------------------------------------------------------:| +| 0 | PING Instruction | Status Packet is returned only in response to the PING command | +| 1 | PING Instruction
Read Instruction | Status Packet is returned only in response to PING and READ commands | +| 2 | All Instruction | Status Packet is returned for all commands | + +**Note**: When the Instruction Packet's ID is the Broadcast ID (0xFE), Status Packets for Read Instruction or Write Instruction will not be returned regardless of the setting of Status Return Level (15). For more detailed information, please refer to the [Status Packet] section in Protocol 2.0. +{: .notice} + +[Status Packet]: /docs/en/dxl/protocol2/#status-packet \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_16_registered_instruction.md b/_includes/en/dxl/y/control_table_16_registered_instruction.md new file mode 100644 index 000000000..90b343b27 --- /dev/null +++ b/_includes/en/dxl/y/control_table_16_registered_instruction.md @@ -0,0 +1,9 @@ +| Value | Description | +|:-----:|:-----------------------------------------------:| +| 0 | No registered command from REG_WRITE | +| 1 | Registered command from REG_WRITE | + + +**Note**: When the registered ACTION command is executed, the Registered Instruction (16) value is reset to '0'. +{: .notice} + diff --git a/_includes/en/dxl/y/control_table_170_gain_save.md b/_includes/en/dxl/y/control_table_170_gain_save.md new file mode 100644 index 000000000..64a4c9711 --- /dev/null +++ b/_includes/en/dxl/y/control_table_170_gain_save.md @@ -0,0 +1,13 @@ +You can verify whether the Hybrid area has been modified, save requests, and confirm saving completion. +If you enter '1' in this field, the value of the Hybrid area will be saved. + +| Value | Label | Description | +| :---: | :----------------: | :----------------------------------------------------------------------------------------------------| +| 0 | Changed | There are unsaved values in the Hybrid area. | +| 1 | Save Request | Request to save values in the Hybrid area. “1” can be used when the Torque Enable(512) value is ‘0’. | +| 2 | Saved | The values in the Hybrid area have been saved. | + + +**Note** : If the value of Gain Save (514) is '0', changes will not be saved if the device is rebooted or power is disconnected. +{: .notice} + diff --git a/_includes/en/dxl/y/control_table_212_velocity_gain.md b/_includes/en/dxl/y/control_table_212_velocity_gain.md new file mode 100644 index 000000000..e58751e20 --- /dev/null +++ b/_includes/en/dxl/y/control_table_212_velocity_gain.md @@ -0,0 +1,7 @@ +This is the control gain value for the velocity controller. The value is set in the [Velocity Controller](#velocity-control-mode) block within the block diagram of the Operating Mode (33) item. + +| item | Gain Notation | Range | Description | +|:-------------------------:|:-----------------:|:-----------------:|:-------------------------------| +| Velocity I Gain(212) | KvI | 0 ~ 2,147,483,647 | Velocity Integral Gain | +| Velocity P Gain(216) | KvP | 0 ~ 2,147,483,647 | Velocity Proportional Gain | +| Velocity FF Gain(220) | KvFF | 0 ~ 2,147,483,647 | Acceleration Feedforward Gain | \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_224_position_gain.md b/_includes/en/dxl/y/control_table_224_position_gain.md new file mode 100644 index 000000000..9a3b125ae --- /dev/null +++ b/_includes/en/dxl/y/control_table_224_position_gain.md @@ -0,0 +1,8 @@ +This is the control gain value for the position controller. The value is set in the [Position Controller](#position-control-mode) block within the block diagram of the Operating Mode (33) item. + +| item | Gain Notation | Range | Description | +|:-------------------------:|:-----------------:|:-----------------:|:---------------------------| +| Position D Gain(224) | KPD | 0 ~ 2,147,483,647 | Position Derivative Gain | +| Position I Gain(238) | KPI | 0 ~ 2,147,483,647 | Position Integral Gain | +| Position P Gain(232) | KPP | 0 ~ 2,147,483,647 | Position Proportional Gain | +| Position FF Gain(236) | KPFF | 0 ~ 2,147,483,647 | Velocity Feedforward Gain | diff --git a/_includes/en/dxl/y/control_table_240_profile_acceleration.md b/_includes/en/dxl/y/control_table_240_profile_acceleration.md new file mode 100644 index 000000000..5c1e48dd3 --- /dev/null +++ b/_includes/en/dxl/y/control_table_240_profile_acceleration.md @@ -0,0 +1,6 @@ +If time-based profile is not selected in [Drive Mode(32)], a velocity-acceleration-based profile is created using Profile Acceleration(240) and Profile Velocity(244). Please refer to the Profile section for further details. + +| item | Unit | Control Mode | Description | +|:------------------------------:|:--------------:| :----------------------------------|:-------------------------------------------------------------------------------| +| Profile Acceleration(248) | 10 [rev/min²] | Velocity control, Position control | Profile acceleration/deceleration time | +| Profile(252) | 0.01 [RPM] | Position control | Time to reach the profile.
If the value is 0, the profile is deactivated. | diff --git a/_includes/en/dxl/y/control_table_248_profile_acceleration_time.md b/_includes/en/dxl/y/control_table_248_profile_acceleration_time.md new file mode 100644 index 000000000..da43c1909 --- /dev/null +++ b/_includes/en/dxl/y/control_table_248_profile_acceleration_time.md @@ -0,0 +1,7 @@ +If time-based profile is selected in [Drive Mode(32)], a time-based profile is created using Profile Acceleration Time(248) and Profile Time(252). Please refer to the Profile section for further details. + +| item | Unit | Control Mode | Description | +|:-----------------------------------:|:------------:| :----------------------------------|:-------------------------------------------------------------------------------| +| Profile Acceleration Time(248) | 0.2 [ms] | Velocity control, Position control | Profile acceleration/deceleration time | +| Profile Time(252) | 0.2 [ms] | Position control | Time to reach the profile.
If the value is 0, the profile is deactivated. | + diff --git a/_includes/en/dxl/y/control_table_2_model_information.md b/_includes/en/dxl/y/control_table_2_model_information.md new file mode 100644 index 000000000..bfcd7e07d --- /dev/null +++ b/_includes/en/dxl/y/control_table_2_model_information.md @@ -0,0 +1 @@ +Additional DYNAMIXEL model information. diff --git a/_includes/en/dxl/y/control_table_32_drive_mode.md b/_includes/en/dxl/y/control_table_32_drive_mode.md new file mode 100644 index 000000000..db695ebd3 --- /dev/null +++ b/_includes/en/dxl/y/control_table_32_drive_mode.md @@ -0,0 +1,12 @@ +A collection of various DYNAMIXEL configuration settings. + +| Value | Operating Mode | Description | +|:-----------:|:------------------------:|:-------------------------------------------------------------------------------------------------------------------| +| Bit 7(0x80) | - | Unused, always ‘0’ ‘0’ | +| Bit 6(0x40) | Dynamic Brake ON | **[0]** Dynamic Brake OFF: Deactivate Dynamic Brake when torque is off.
**[1]** Dynamic Brake ON: Activate Dynamic Brake when torque is off. | +| Bit 5(0x20) | - | Unused, always ‘0’ ‘0’ | +| Bit 4(0x10) | - | Unused, always ‘0’ ‘0’ | +| Bit 3(0x08) | - | Unused, always ‘0’ ‘0’ | +| Bit 2(0x04) | Profile Configuration | **[0]** Velocity-based Profile: Create profiles based on velocity.
**[1]** Time-based Profile: Create profiles based on time.
※ For more details, refer to the [Profile](#profile) section of the eManual. | +| Bit 1(0x02) | - | Unused, always ‘0’ ‘0’ | +| Bit 0(0x01) | Normal/Reverse Mode | **[0]** Normal Mode: Counter-clockwise (CCW) is positive, clockwise (CW) is negative.
**[1]** Reverse Mode: Clockwise (CW) is positive, counter-clockwise (CCW) is negative. | diff --git a/_includes/en/dxl/y/control_table_33_operating_mode.md b/_includes/en/dxl/y/control_table_33_operating_mode.md new file mode 100644 index 000000000..f280ed9a8 --- /dev/null +++ b/_includes/en/dxl/y/control_table_33_operating_mode.md @@ -0,0 +1,21 @@ +Control mode can be set. DYNAMIXEL-Y supports three control modes. + +| Value | Operating Mode | Description | +|:-----------|:----------------------|:------------------------------------------------------------------------------------------------------------------------------------| +| 0 | Current Control Mode | Controls current. Does not control velocity and position. | +| 1 | Velocity Control Mode | Controls velocity and current. Does not control position. | +| 3(Default) | Position Control Mode | Controls position, velocity, and current.
Operates within the range defined by Max Position Limit(76) to Min Position Limit(84). | + +The control block diagram for each control mode is as follows: + +#### [Current Control Mode](#current-control-mode) +![](/assets/images/dxl/y/operating_mode_1_en.PNG) + +#### [Velocity Control Mode](#velocity-control-mode) +![](/assets/images/dxl/y/operating_mode_2_en.PNG) + +#### [Position Control Mode](#position-control-mode) +![](/assets/images/dxl/y/operating_mode_3_en.PNG) + +**Note:** DYNAMIXEL-Y stores persistent Multi-turn information. Even if the power is turned off and on, or if the Reboot Instruction is used, the current Multi-turn position is accurately tracked through even manual rotations while the power is off, and the absolute position value is updated. The Multi-turn position can be reset to '0' using the Clear Instruction. +{: .notice} \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_34_startup_configuration.md b/_includes/en/dxl/y/control_table_34_startup_configuration.md new file mode 100644 index 000000000..6a59de2e0 --- /dev/null +++ b/_includes/en/dxl/y/control_table_34_startup_configuration.md @@ -0,0 +1,15 @@ +You can specify actions to be performed when the device is powered on. + +| Value | Operating Mode | Description | +|:-----------:|:----------------------:|:-----------------------------------------------------------------------------------------------------------------------| +| Bit 7(0x80) | - | Unused, always ‘0’ ‘0’ | +| Bit 6(0x40) | - | Unused, always ‘0’ ‘0’ | +| Bit 5(0x20) | - | Unused, always ‘0’ ‘0’ | +| Bit 4(0x10) | - | Unused, always ‘0’ ‘0’ | +| Bit 3(0x08) | - | Unused, always ‘0’ ‘0’ | +| Bit 2(0x04) | - | Unused, always ‘0’ ‘0’ | +| Bit 1(0x02) | - | Unused, always ‘0’ ‘0’ | +| Bit 0(0x01) | Startup Torque ON | **[0]** Torque Enable(512) ‘0’ (Torque Off) at boot-up
**[1]** Torque Enable(512) ‘1’ (Torque On) at boot-up | + + + diff --git a/_includes/en/dxl/y/control_table_38_position_limit_threshold.md b/_includes/en/dxl/y/control_table_38_position_limit_threshold.md new file mode 100644 index 000000000..c2a9a9af4 --- /dev/null +++ b/_includes/en/dxl/y/control_table_38_position_limit_threshold.md @@ -0,0 +1,7 @@ +The threshold for determining the Position Limit Reached Error. If the value of the [Present Position(552)] is outside the range of ([Max Position Limit(76)] + Position Limit Threshold (38)) ~ ([Min Position Limit (84)] - Position Limit Threshold (38)), a Position Limit Reached Error occurs. + +| Unit | Range | +|:---------:|:----------:| +| 1 [Pulse] | 0 ~ 32,767 | + + diff --git a/_includes/en/dxl/y/control_table_40_in_position_threshold.md b/_includes/en/dxl/y/control_table_40_in_position_threshold.md new file mode 100644 index 000000000..9f9a254f0 --- /dev/null +++ b/_includes/en/dxl/y/control_table_40_in_position_threshold.md @@ -0,0 +1,7 @@ +The threshold for determining the In-Position Bit [Moving Status(541)]. If the difference between the [Goal Position(532)] and [Present Position(552)] is smaller than this value, the In-Position Bit of the [Moving Status(541)] register will be set to '1'. + +| Unit | Range | +|:---------:|:-----------------:| +| 1 [Pulse] | 0 ~ 2,147,483,647 | + + diff --git a/_includes/en/dxl/y/control_table_44_following_error_threshold.md b/_includes/en/dxl/y/control_table_44_following_error_threshold.md new file mode 100644 index 000000000..30418d9d1 --- /dev/null +++ b/_includes/en/dxl/y/control_table_44_following_error_threshold.md @@ -0,0 +1,5 @@ +The threshold value for determining the Following Error Bit of [Moving Status(541)]. If the difference between [Position Trajectory(560)] and [Present Position(552)] is greater than this value, the Following Error Bit of the [Moving Status(541)] register will be set to '1'. + +| Unit | Range | +|:---------:|:-----------------:| +| 1 [Pulse] | 0 ~ 2,147,483,647 | \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_48_moving_threshold.md b/_includes/en/dxl/y/control_table_48_moving_threshold.md new file mode 100644 index 000000000..6ae4fdd00 --- /dev/null +++ b/_includes/en/dxl/y/control_table_48_moving_threshold.md @@ -0,0 +1,5 @@ +The threshold value for determining the Moving Bit of [Moving Status(541)]. If the [Present Velocity(548)] value is greater than this value, the Moving Bit of the [Moving Status(541)] register will be set to '1'. + +| Unit | Range | +|:---------:|:-----------------:| +| 1 [Pulse] | 0 ~ 2,147,483,647 | \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_512_torque_enable.md b/_includes/en/dxl/y/control_table_512_torque_enable.md new file mode 100644 index 000000000..a0a363afa --- /dev/null +++ b/_includes/en/dxl/y/control_table_512_torque_enable.md @@ -0,0 +1,19 @@ + +Controls Torque ON/OFF. Writing '1' enables Torque ON state and locks all data in the EEPROM area. If Torque ON is not possible, the Result Fail bit in the Status Packet error will be set to '1'. + +| Value | Description | +|:-----:| :----------------- | +| 0 | Request Torque OFF | +| 1 | Request Torque ON | + + +Writing '1' to Torque Enable initiates the Torque ON process in the following sequence: +Torque ON 🡪 Brake Release 🡪 Start Goal Data Update +Writing '0' to Torque Enable initiates the Torque OFF process in the following sequence: +Stop Goal Data Update 🡪 Slow Stop 🡪 Lock Brake 🡪 Torque OFF + +**Note** : If the value of Gain Save(170) is ‘0’, changes will not be saved when the device is rebooted or powered off. +{: .notice} + +**Note** : When the value of [Controller State(152)] is Process Torque On(4), Process Torque Off(6), writing values to Torque Enable(512), [Goal PWM(524)], [Goal Current(526)], G[oal Velocity(528)], [Goal Position(532)] will result in a “Result Fail” return. +{: .notice} diff --git a/_includes/en/dxl/y/control_table_513_led.md b/_includes/en/dxl/y/control_table_513_led.md new file mode 100644 index 000000000..cb110d06a --- /dev/null +++ b/_includes/en/dxl/y/control_table_513_led.md @@ -0,0 +1,20 @@ +Turns the LED ON/OFF. + +| Value | Description | +| :---: | :------------------------------------------: | +| 0 | Turns off the LED at the back of the device. | +| 1 | Turns on the LED at the back of the device. | + + +{% capture LED %} +**Note** : LED operation according to the device's status (condition). + +| Status | LED Operation | +|:-------------:|:---------------:| +| Boot-up | Single blink | +| Factory Reset | Four blinks | +| Alarm | Steady blinking | +| Boot Mode | Illuminated | +{% endcapture %} + +
{{ LED | markdownify }}
diff --git a/_includes/en/dxl/y/control_table_516_pwm_current_veloctiy_offset.md b/_includes/en/dxl/y/control_table_516_pwm_current_veloctiy_offset.md new file mode 100644 index 000000000..5095ae6f6 --- /dev/null +++ b/_includes/en/dxl/y/control_table_516_pwm_current_veloctiy_offset.md @@ -0,0 +1,7 @@ +Offset value for Goal PWM / Current / Velocity + +| item | Unit | Control Mode | Description | +|:--------------------:|:-----------:| :---------------------------------------------------|:----------------------------------| +| PWM Offset(516) | 0.01[V] | Current control, Velocity control, Position control | Offset for PWM output value | +| Current Offset(518) | 0.01[A] | Velocity control, Position control | Offset for current output value | +| Velocity Offset(520) | 0.01[RPM] | Position control | Offset for velocity output value | \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_524_goal_pwm.md b/_includes/en/dxl/y/control_table_524_goal_pwm.md new file mode 100644 index 000000000..cec0a5dbd --- /dev/null +++ b/_includes/en/dxl/y/control_table_524_goal_pwm.md @@ -0,0 +1,5 @@ +Used as a limiting value for PWM output. The Goal PWM(524) cannot exceed the [PWM Limit(64)]. + +| Unit | Range | Control Mode | Description | +|:---------:|:-----------------------------------:| :---------------------------------------------------|:-------------------------------------------| +| 0.01 [V] | - PWM Limit(64) ~ PWM Limit(64) | Current control, Velocity control, Position control | 500 = Maximum output voltage limited to 50[%]
1,000 = Maximum output voltage limited to 100[%] | diff --git a/_includes/en/dxl/y/control_table_526_goal_current.md b/_includes/en/dxl/y/control_table_526_goal_current.md new file mode 100644 index 000000000..7a8d2559a --- /dev/null +++ b/_includes/en/dxl/y/control_table_526_goal_current.md @@ -0,0 +1,8 @@ +In current control mode, the Goal Current (526) value operates as the target current value. In velocity control mode, position control mode, and extended position control mode, it operates within the limit of the current controller input (current). Goal Current(526) cannot exceed the [Current Limit(66)]. + +| Unit | Range | Control Mode | Description | +|:----------:|:------------------------------------------:| :-------------------------------------------------------|:-------------------------------------------| +| 0.01 [A] | - Current Limit(66) ~ Current Limit(66) | Current control
Velocity control, Position control | 800 = 8[A] Current output
500 = Maximum output current limited to 5[A] | + +**Note** : If a current exceeding the device's rated current is continuously applied to the motor, an Overload Error will occur. Please only use currents exceeding the rating momentarily. +{: .notice} \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_528_goal_velocity.md b/_includes/en/dxl/y/control_table_528_goal_velocity.md new file mode 100644 index 000000000..3afbc7b86 --- /dev/null +++ b/_includes/en/dxl/y/control_table_528_goal_velocity.md @@ -0,0 +1,10 @@ +In velocity control mode, the Goal Velocity (528) value operates as the target velocity value. +In position control mode and extended position control mode, it operates within the limit of the velocity controller input (current). Goal velocity(528) cannot exceed the [Velocity Limit(72)]. + +| Unit | Range | Control Mode | Description | +|:----------:|:---------------------------------------------:| :-------------------------------------------------------------|:-------------------------------------------| +| 0.01 [RPM] | - Velocity Limit(72) ~ Velocity Limit(72) | Current control
Velocity control
Position control | Unused
80,000 = Rotates at 800[RPM] speed
500,000 = Maximum rotational speed limited to 5,000[RPM] | + +**Note** : If the electronic gear ratio, expressed as Gear [Ratio Num(96)/Den(100)] value is not 1, the Goal Velocity(528) value will be multiplied by this ratio and applied to the controller. +{: .notice} + diff --git a/_includes/en/dxl/y/control_table_52_homing_offset.md b/_includes/en/dxl/y/control_table_52_homing_offset.md new file mode 100644 index 000000000..825a7e6c6 --- /dev/null +++ b/_includes/en/dxl/y/control_table_52_homing_offset.md @@ -0,0 +1,7 @@ +Used to adjust the zero position of the servo. This value is added to the [Present Position(552)]. +Present Position = Actual Position + Homing offset(52) + + +| Unit | Range | +|:---------:|:-----------------:| +| 1 [Pulse] | 0 ~ 2,147,483,647 | diff --git a/_includes/en/dxl/y/control_table_532_goal_position.md b/_includes/en/dxl/y/control_table_532_goal_position.md new file mode 100644 index 000000000..66a3ecae4 --- /dev/null +++ b/_includes/en/dxl/y/control_table_532_goal_position.md @@ -0,0 +1,10 @@ +The goal position can be set using Goal Position (532). In position control mode, you can input from the [Min Position limit(84)] to the [Max position limit(76)]. By changing the value from the [Min Position limit(84)] to the [Max position limit(76)], it can be used from -2,147,483,648 to 2,147,483,647. + + +| Unit | Range | Control Mode | Description | +|:------------------------------------:|:-----------------------------------------------:| :-----------------------------------------------------------|:----------------------| +| 1[pulse]
(Approx. 0.006866 deg) | Min Position limit(84) ~ Max position limit(76) | Current control
Velocity control
Position control | Unused
16,000 = Move to position 16,000 [pulse] + +**Note** : If the electronic gear ratio, expressed as [Gear Ratio Num(96)/Den(100)] value is not 1, the Goal Velocity(528) value will be multiplied by this ratio and applied to the controller. +{: .notice} + diff --git a/_includes/en/dxl/y/control_table_541_moving_status.md b/_includes/en/dxl/y/control_table_541_moving_status.md new file mode 100644 index 000000000..f574dbd1c --- /dev/null +++ b/_includes/en/dxl/y/control_table_541_moving_status.md @@ -0,0 +1,14 @@ +Provides additional information about movement. The In-Position Bit(0x01) is only used in position control mode. + +| Value | Item | Description | +| :----------: | :---------------: | :---------------------------------------------------------------------------------------------------------------------------------------- | +| Bit 7 (0x80) | - | Unused, always ‘0’ ‘0’ | +| Bit 6 (0x40) | Position In Range | Whether the current position is within the range of [Min Position limit(84)] ~ [Max position limit(76)]
0 : Out of the Limit Range
1 : Within the Limit Range | +| Bit 5 (0x40)

Bit 4 (0x40) | Profile type(H)

Profile type(L) | The current profile type in use
11 : Trapezoidal profile
10 : Triangular profile
01 : Rectangular profile
00 : Profile unused (Step) | +| Bit 3 (0x08) | Following error | Whether or not the [Position Trajectory(532)] is being followed
0 : Follow
1 : Following error | +| Bit 2 (0x04) | Moving | Whether the device is rotating
0 : Standby status
1 : Movement detected | +| Bit 1 (0x02) | Profile ongoing | Whether the profile is in progress according to the [Goal Position(532)] command
0 : Profile complete
1 : Profile in progress | +| Bit 0 (0x01) | In-Position | Whether the [Goal Position(532)] has been reached
0 : Not reached
1 : Reached | + +**Note** : A triangular velocity profile is set when the [Profile Velocity(244)] is not reached under trapezoidal velocity profile conditions. +{: .notice} diff --git a/_includes/en/dxl/y/control_table_542_realtime_tick.md b/_includes/en/dxl/y/control_table_542_realtime_tick.md new file mode 100644 index 000000000..4d0311e5b --- /dev/null +++ b/_includes/en/dxl/y/control_table_542_realtime_tick.md @@ -0,0 +1,5 @@ +This is the time value of the device. It can be used as a timestamp for packets, providing a more accurate time value than a PC. + +| Unit | Range | Description | +| :---: | :--------: | :--------------------------------------------------------------------------: | +| 1 [ms] | 0 ~ 32,767 | Time since the device booted. The value resets to ‘0’ after reaching 32,767. | diff --git a/_includes/en/dxl/y/control_table_544_present_pwm.md b/_includes/en/dxl/y/control_table_544_present_pwm.md new file mode 100644 index 000000000..509d609d4 --- /dev/null +++ b/_includes/en/dxl/y/control_table_544_present_pwm.md @@ -0,0 +1 @@ +This is the PWM Duty value currently applied to the device’s motor. For more details, please refer to the [Goal PWM(524)]. diff --git a/_includes/en/dxl/y/control_table_546_present_current.md b/_includes/en/dxl/y/control_table_546_present_current.md new file mode 100644 index 000000000..97649b9e3 --- /dev/null +++ b/_includes/en/dxl/y/control_table_546_present_current.md @@ -0,0 +1 @@ +This is the current value flowing through the device’s motor. Please refer to the [Goal Current(526)] for further details. diff --git a/_includes/en/dxl/y/control_table_548_present_velocity.md b/_includes/en/dxl/y/control_table_548_present_velocity.md new file mode 100644 index 000000000..baf203e25 --- /dev/null +++ b/_includes/en/dxl/y/control_table_548_present_velocity.md @@ -0,0 +1 @@ +This is the velocity value at which the device is currently rotating. Please refer to the Goal [Velocity(528)] for further details. diff --git a/_includes/en/dxl/y/control_table_552_present_position.md b/_includes/en/dxl/y/control_table_552_present_position.md new file mode 100644 index 000000000..aaeb3f29c --- /dev/null +++ b/_includes/en/dxl/y/control_table_552_present_position.md @@ -0,0 +1 @@ +This is the position value of the current device. Please refer to the [Goal Position(532)] for further details. diff --git a/_includes/en/dxl/y/control_table_560_position_trajectory.md b/_includes/en/dxl/y/control_table_560_position_trajectory.md new file mode 100644 index 000000000..edce3bd6b --- /dev/null +++ b/_includes/en/dxl/y/control_table_560_position_trajectory.md @@ -0,0 +1 @@ +This is the target position trajectory generated by the profile. It operates only in position control mode. Please refer to the [Profile Velocity(244)] for further details. diff --git a/_includes/en/dxl/y/control_table_564_velocity_trajectory.md b/_includes/en/dxl/y/control_table_564_velocity_trajectory.md new file mode 100644 index 000000000..811042344 --- /dev/null +++ b/_includes/en/dxl/y/control_table_564_velocity_trajectory.md @@ -0,0 +1,4 @@ +This is the target velocity trajectory profile generated by the profile. Depending on the control mode, the operational method varies as follows. Please refer to the [Profile Velocity(244)] for further details. + +1. Velocity control mode : When the profile ends, Velocity Trajectory(564) becomes the same as [Goal Velocity(528)]. +2. Position control mode : Target velocity trajectory to create [Position Trajectory(560)]. When the profile ends, Velocity Trajectory(564) becomes ‘0’. diff --git a/_includes/en/dxl/y/control_table_568_present_input_voltage.md b/_includes/en/dxl/y/control_table_568_present_input_voltage.md new file mode 100644 index 000000000..0db08bcf4 --- /dev/null +++ b/_includes/en/dxl/y/control_table_568_present_input_voltage.md @@ -0,0 +1 @@ +This indicates the present voltage that is being supplied to the device. Please refer to the [Max/Min Voltage Limit(60, 62)] for further details. diff --git a/_includes/en/dxl/y/control_table_56_temperature_limit.md b/_includes/en/dxl/y/control_table_56_temperature_limit.md new file mode 100644 index 000000000..9a6debe82 --- /dev/null +++ b/_includes/en/dxl/y/control_table_56_temperature_limit.md @@ -0,0 +1,14 @@ +This is the upper limit for the operating temperature of the inverter and motor. +If the values of [Present Inverter Temperature(570)] or [Present Motor Temperature(571)] exceed the Inverter Temperature Limit(56) and Motor Temperature Limit(57) respectively, an overheating error occurs. The values of the control table items shown in the table below will be changed, and the device will enter an error state. After an error occurs, the Status Packet transmits an Alert Bit (0x80) through the Error field. + + +| Address | Label | Value Change | Description | +|:---------:|:------------------:|:----------------------------------------------------|:------------------------------------------------------------------------------------------| +| 152 | [Controller State] | 9 (Hardware Fault) | The internal controller transitions to Hardware Fault state. | +| 153 | [Error Code] | 3 (Inverter Overheating)
4 (Motor Overheating) | The temperature of the inverter is higher than the Inverter Temperature Limit(56).
The temperature of the motor is higher than the Motor Temperature Limit(57). | +| 512 | [Torque Enable] | 0 (Torque OFF) | An error occurs, causing the device’s torque to be disabled. | +| 154 ~ 169 | Error Code History | Error Code | The currently occurring error code is added to the Error Code History. | + +[Controller State]: #controller-state152 +[Error Code]: #error-code153 +[Torque Enable]: #torque-enable512 \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_570_present_inverter_temperature.md b/_includes/en/dxl/y/control_table_570_present_inverter_temperature.md new file mode 100644 index 000000000..38ba8300b --- /dev/null +++ b/_includes/en/dxl/y/control_table_570_present_inverter_temperature.md @@ -0,0 +1 @@ +This is the current temperature of the inverter. Please refer to the [Inverter Temperature Limit(56)] for further details. diff --git a/_includes/en/dxl/y/control_table_571_present_motor_temperature.md b/_includes/en/dxl/y/control_table_571_present_motor_temperature.md new file mode 100644 index 000000000..153b252ea --- /dev/null +++ b/_includes/en/dxl/y/control_table_571_present_motor_temperature.md @@ -0,0 +1 @@ +This is the current internal temperature of the motor. Please refer to the [Motor Temperature Limit(57)] for further details. diff --git a/_includes/en/dxl/y/control_table_60_voltage_limit.md b/_includes/en/dxl/y/control_table_60_voltage_limit.md new file mode 100644 index 000000000..e931a9ca3 --- /dev/null +++ b/_includes/en/dxl/y/control_table_60_voltage_limit.md @@ -0,0 +1,14 @@ +These are the upper and lower limits of the operating voltage. +If the Present [Input Voltage(568)] indicating the currently applied voltage goes beyond the range of Max Voltage Limit (60) or Min Voltage Limit (62), an error occurs. In such cases, the values in the control table are changed as shown in the table below, and the device comes to a stop. Since an error has occurred in the device, the Status Packet transmits an Alert Bit (0x80) through the Error field. + + +| Address | Label | Value Change | Description | +|:---------:|:--------------------:|:----------------------------------------------------|:----------------------------------------------------------------------------------------| +| 152 | [Controller State] | 9 (Hardware Fault) | The internal controller transitions to Hardware Fault state. | +| 153 | [Error Code] | 1 (Over Voltage Error)
2 (Low Voltage Error) | The present input voltage is higher than the Max Voltage Limit(60).
The present input voltage is less than the Over Voltage Limit(61). | +| 512 | [Torque Enable] | 0 (Torque OFF) | An error occurs, causing the device’s torque to be disabled. | +| 154 ~ 169 | Error Code History | Error Code | The currently occurring error code is added to the Error Code History. | + +[Controller State]: #controller-state152 +[Error Code]: #error-code153 +[Torque Enable]: #torque-enable512 \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_64_pwm_limit.md b/_includes/en/dxl/y/control_table_64_pwm_limit.md new file mode 100644 index 000000000..04d589049 --- /dev/null +++ b/_includes/en/dxl/y/control_table_64_pwm_limit.md @@ -0,0 +1,8 @@ +This is the limit value of output PWM. A value greater than the PWM Limit (64) cannot be input in [Goal PWM(524)]. The PWM Limit (64) is a common output limit value applied to all control modes, and reducing the PWM output will decrease both the torque and speed of the device. For more details, please refer to the Gain section of the respective control mode. + +| Unit | Range | Description | +| :-----: | :-------: | :-------------------------------------------------------------: | +| 0.1 [%] | 0 ~ 1,000 | 500 = PWM Duty 50[%] Output
1,000 = PWM Duty 100[%] Output | + +**Caution** : If the voltage applied to the device is less than 24[V], it can output up to the applied voltage. +{: .notice--warning} \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_66_current_limit.md b/_includes/en/dxl/y/control_table_66_current_limit.md new file mode 100644 index 000000000..8f2ad8f0a --- /dev/null +++ b/_includes/en/dxl/y/control_table_66_current_limit.md @@ -0,0 +1,9 @@ +This is the limit value of the target current value. The [Goal Current(526)] cannot be set to a value greater than the Current Limit(66). If a value greater than this limit is set, the Status Packet transmits a Data Limit Error through the Error field. + + +| Unit | Range | Description | +| :------: | :-------: | :------------------------------------------------------------------------: | +| 0.01 [A] | 0 ~ 2,000 | 1,000 = 10[A], 10[A] current limit
2,000 = 20[A], 20[A] current limit | + +**Note** : If you continuously apply a current to the motor exceeding the rated 10[A], an Overload Error will occur. Only use currents exceeding the rated value for momentary periods. +{: .notice} \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_68_acceleration_limit.md b/_includes/en/dxl/y/control_table_68_acceleration_limit.md new file mode 100644 index 000000000..4d63b06ef --- /dev/null +++ b/_includes/en/dxl/y/control_table_68_acceleration_limit.md @@ -0,0 +1 @@ +This is the limit value of the profile acceleration value. The [Profile Acceleration(240)] cannot be set to a value greater than the Acceleration Limit(68). If a value greater than this limit is set, the Status Packet transmits a Data Limit Error through the Error field. diff --git a/_includes/en/dxl/y/control_table_6_firmware_version.md b/_includes/en/dxl/y/control_table_6_firmware_version.md new file mode 100644 index 000000000..1e4e49b69 --- /dev/null +++ b/_includes/en/dxl/y/control_table_6_firmware_version.md @@ -0,0 +1 @@ +The firmware version installed on your DYNAMIXEL. diff --git a/_includes/en/dxl/y/control_table_72_velocity_limit.md b/_includes/en/dxl/y/control_table_72_velocity_limit.md new file mode 100644 index 000000000..390b8970a --- /dev/null +++ b/_includes/en/dxl/y/control_table_72_velocity_limit.md @@ -0,0 +1,2 @@ +These are the limit values of the target velocity value and the profile velocity value. Values for the [Goal Velocity(528)] and [Profile Velocity(244)] cannot exceed the Velocity Limit(72). If a value greater than this limit is set, the Status Packet transmits a Data Limit Error through the Error field. + diff --git a/_includes/en/dxl/y/control_table_76_position_limit.md b/_includes/en/dxl/y/control_table_76_position_limit.md new file mode 100644 index 000000000..b9ec41a2e --- /dev/null +++ b/_includes/en/dxl/y/control_table_76_position_limit.md @@ -0,0 +1,7 @@ +In Position Control mode, this value serves as a limit for the target position within the 32-bit range (-2,147,483,647 ~ 2,147,483,647). In Position Control mode, the [Goal position(532)] cannot exceed this value. If a value greater than this limit is set, the Status Packet transmits a Data Limit Error through the Error field. + +| Unit | Range | +|:---------:|:------------------------------:| +| 1 [pulse] | -2,147,483,648 ~ 2,147,483,647 | + + diff --git a/_includes/en/dxl/y/control_table_7_id.md b/_includes/en/dxl/y/control_table_7_id.md new file mode 100644 index 000000000..3d5d72e7f --- /dev/null +++ b/_includes/en/dxl/y/control_table_7_id.md @@ -0,0 +1,8 @@ +The unique number used to identify devices on the DYNAMIXEL network. The acceptable ID range is from 0 to 252 (0xFC), with 254 (0xFE) being reserved for the Broadcast ID. Broadcast ID (254, 0xFE) is used specifically for sending Instruction Packets to all connected DYNAMIXEL devices simultaneously. + + +**Caution** : Each DYNAMIXEL servo connected to the network requires a unique ID. If device IDs are duplicated, communication errors can occur, and the searching for DYNAMIXELs with duplicated IDs will fail. +{: .notice} + +**Note** : If the ID of the Instruction packet is set to the Broadcast ID (0xFE), the Status Packet for Read or Write Instruction will not be returned, regardless of the Status Return Level (68) setting value. For more detailed information, please refer to the Status Packet section of the [DYNAMIXEL Protocol 2.0](https://emanual.robotis.com/docs/en/dxl/protocol2/#status-packet) eManual page. +{: .notice} diff --git a/_includes/en/dxl/y/control_table_8_bus_watchdog.md b/_includes/en/dxl/y/control_table_8_bus_watchdog.md new file mode 100644 index 000000000..fd7269573 --- /dev/null +++ b/_includes/en/dxl/y/control_table_8_bus_watchdog.md @@ -0,0 +1,22 @@ +The Bus Watchdog (8) serves as a safety mechanism (fail-safe) to halt the device in case communication between the controller and the device is interrupted due to an error. +When Torque Enable (512) is '1' (Torque ON), the Bus Watchdog feature monitors the interval of communication between the controller and the device. If the measured communication interval exceeds the configured Bus Watchdog (8) timer, the DYNAMIXEL will stop moving to ensure safety. +When this is triggered, the Bus Watchdog (8) value changes to '-1' to indicate a Bus Watchdog Error. Once in the Bus Watchdog Error state, the Access attribute for Goal Values (Goal PWM (524), Goal Current (526), Goal Velocity (528), Goal Position (532)) becomes Read-Only. Attempting to write a new value to these Goal Values will result in a Data Range Error, which will be indicated in the Status Packet's Error field. To resolve the Bus Watchdog Error, you must reset Bus Watchdog (8) to '0' or use the Error Clear Packet to clear the error. + + +**Note** : For detailed information about Data Range Errors, please refer to the [DYNAMIXEL Protocol 2.0](https://emanual.robotis.com/docs/en/dxl/protocol2/#status-packet) eManual page. +{: .notice} + +Here is an example of how the Bus Watchdog function operates: + +{% capture bus_watchdog_ex1 %} +1. After setting Operating Mode (33) to Velocity Control Mode and changing Torque Enable (512) to '1'. +2. Write '50' to Goal Velocity (528), and the device starts rotating counterclockwise. +3. Change the value of Bus Watchdog (546) to '100' (2,000 [ms]) to activate the Bus Watchdog feature. +4. If no Instruction packet is received for 2,000 milliseconds, the device comes to a stop with a safe deceleration. +5. Bus Watchdog (8) value is set to '-1' (Bus Watchdog Error), and the Access attribute of Goal Values becomes Read-Only. +6. Write '150' to Goal Velocity (528), and a Data Range Error is reported via the Status Packet. +7. Change the value of Bus Watchdog (8) to '0' to clear the Bus Watchdog Error. +8. Write '150' to Goal Velocity (528), and the device starts rotating counterclockwise. +{% endcapture %} + +
{{ bus_watchdog_ex1 | markdownify }}
\ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_919_backup_ready.md b/_includes/en/dxl/y/control_table_919_backup_ready.md new file mode 100644 index 000000000..08bb897be --- /dev/null +++ b/_includes/en/dxl/y/control_table_919_backup_ready.md @@ -0,0 +1 @@ +Indicates the presence or absence of control table data saved through the Control Table Backup Packet. diff --git a/_includes/en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md b/_includes/en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md new file mode 100644 index 000000000..82164d879 --- /dev/null +++ b/_includes/en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md @@ -0,0 +1,15 @@ +The Electronic Gear Ratio used in [Present Velocity(548)], [Present Position(552)], [Goal Velocity(528)], [Goal Position(532)], [Position Traject(560)], [Velocity Trajectory(564)] can be configured by using the Electronic Gear Ratio control table item. This adjusts the control input's pulse units to the desired scale at the output. The Electronic Gear Ratio is applied as follows when used in Position Control Mode. + +![](/assets/images/dxl/y/dy_equation_1_en.jpg) + +![](/assets/images/dxl/y/electronic_gear.PNG) + +Here is an example of electronic gear ratio configuration: + +Re: Electronic Gear Ratio R: Actual Gear Ratio L: Ball Screw Lead + +| System Form | Setting Unit | Description | +|:----------------------------------:|:-------------:|:----------------------------------------| +| Direct Drive System | 0.01 [deg] | Resolution of DYNAMIXEL-Y: 524,288 [pulse/rev]: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_2.jpg) | +| Gearbox Attachment
R = 100:1 | 0.01 [deg] | Resolution of DYNAMIXEL-Y: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_2.jpg) | +| Ball Screw System
L: 10mm/rev | 0.01 [mm] | DYNAMIXEL-Y Pulse per 1Rev = 524,288
Resolution of DYNAMIXEL-Y: 524,288 [pulse/rev]
![](/assets/images/dxl/y/dy_equation_3.jpg) | diff --git a/_includes/en/dxl/y/control_table_torque_on_off_timing_chart.md b/_includes/en/dxl/y/control_table_torque_on_off_timing_chart.md new file mode 100644 index 000000000..5f2faf4dd --- /dev/null +++ b/_includes/en/dxl/y/control_table_torque_on_off_timing_chart.md @@ -0,0 +1,6 @@ +Timing Chart for the Safe Stop(104) ~ Overexcitation Time(112) features. + +![](/assets/images/dxl/y/torque_on-off_timing_chart.PNG) + +**Note** : When the value of [Controller State(152)] is Process Torque On(4), Process Torque Off(6), writing values to [Torque Enable(512)], [Goal PWM(524)], [Goal Current(526)], [Goal Velocity(528)], [Goal Position(532)] will result in a "Result Fail" return. +{: .notice} \ No newline at end of file diff --git a/_includes/en/dxl/y/control_table_ym070_210_m001_rh.md b/_includes/en/dxl/y/control_table_ym070_210_m001_rh.md new file mode 100644 index 000000000..a268b2dc7 --- /dev/null +++ b/_includes/en/dxl/y/control_table_ym070_210_m001_rh.md @@ -0,0 +1,113 @@ + + +
+ +| Address| 크기(Byte) | Label | 접근 | 기본Value | Range | Unit | +| :--: |:--------: | :---------------------------------------------------------------------- | :--: |:----: | :---------------------: | :---------------: | +| 0 | 2 | [Model Number](#model-number) | R | 4,000 | - | - | +| 2 | 4 | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | [ID](#id) | RW | 1 | - | - | +| 8 | 1 | [Bus Watchdog](#bus-watchdog) | RW | 0 | - | - | +| 10 | 1 | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | - | - | +| 11 | 1 | [Protocol Type](#protocol-type) | RW | 2 | - | - | +| 12 | 1 | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | - | - | +| 13 | 1 | [Return Delay Time](#return-delay-time) | RW | 250 | - | - | +| 15 | 1 | [Status Return Level](#status-return-level) | RW | 2 | - | - | +| 16 | 1 | [Registered Instruction](#registered-instruction) | R | 0 | - | - | +| 32 | 1 | [Drive Mode](#drive-mode) | RW | 0 | - | - | +| 33 | 1 | [Operating Mode](#operating-mode) | RW | 3 | - | - | +| 34 | 1 | [Startup Configuration](#startup-configuration) | RW | 0 | - | - | +| 38 | 1 | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | - | - | +| 40 | 1 | [In-Position Threshold](#in-position-threshold) | RW | 0 | - | - | +| 44 | 1 | [Following Error Threshold](#following-error-threshold) | RW | 0 | - | - | +| 48 | 4 | [Moving Threshold](#moving-threshold) | RW | - | - | - | +| 52 | 4 | [Homing Offset](#homing-offset) | RW | - | - | - | +| 56 | 4 | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | - | - | - | +| 57 | 2 | [Motor Temperature Limit](#motor-temperature-limit) | RW | - | - | - | +| 60 | 2 | [Max Voltage Limit](#max-voltage-limit) | RW | - | - | - | +| 62 | 4 | [Min Voltage Limit](#min-voltage-limit) | RW | - | - | - | +| 64 | 2 | [PWM Limit](#pwm-limit) | RW | - | - | - | +| 66 | 2 | [Current Limit](#current-limit) | RW | - | - | - | +| 68 | 4 | [Acceleration Limit](#acceleration-limit) | RW | - | - | - | +| 72 | 4 | [Velocity Limit](#velocity-limit) | RW | - | - | - | +| 76 | 4 | [Max Position Limit](#max-position-limit) | RW | - | - | - | +| 84 | 4 | [Min Position Limit](#min-position-limit) | RW | - | - | - | +| 96 | 4 | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | - | - | - | +| 100 | 4 | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | - | - | - | +| 104 | 2 | [Safe Stop Time](#safe-stop-time) | RW | - | - | - | +| 106 | 2 | [Brake Delay](#brake-delay) | RW | - | - | - | +| 108 | 2 | [Goal Update Delay](#goal-update-delay) | RW | - | - | - | +| 110 | 1 | [Overexcitation Voltage](#overexcitation-voltage) | RW | - | - | - | +| 111 | 1 | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | - | - | - | +| 102 | 2 | [Overexcitation Time](#overexcitation-time) | RW | - | - | - | +| 126 | 24 | [Notch Filter Frequency](#notch-filter-frequency) | RW | - | - | - | +| 128 | 2 | [Notch Filter Bandwidth](#notch-filter-bandwidth) | RW | - | - | - | +| 130 | 2 | [Notch Filter Depth](#notch-filter-depth) | RW | - | - | - | +| 132 | 2 | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | - | - | - | +| 134 | 2 | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | - | - | - | +| 136 | 2 | [Position FF LPF Time](#position-ff-lpf-time) | RW | - | - | - | +| 138 | 2 | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | - | - | - | +| 152 | 1 | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | [Error Code History 1](#error-code-history1) | R | - | - | - | +| 155 | 1 | [Error Code History 2](#error-code-history2) | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | [Error Code History 15](#error-code-history15) | R | - | - | - | +| 169 | 1 | [Error Code History 16](#error-code-history16) | R | - | - | - | +| 170 | 1 | [Gain Save](#gain-save) | RW | - | - | - | +| 212 | 4 | [Velocity I Gain](#velocity-i-gain) | RW | - | - | - | +| 216 | 4 | [Velocity P Gain](#velocity-p-gain) | RW | - | - | - | +| 220 | 4 | [Velocity FF Gain](#velocity-ff-gain) | RW | - | - | - | +| 224 | 4 | [Position D Gain](#position-d-gain) | RW | - | - | - | +| 228 | 4 | [Position I Gain](#position-i-gain) | RW | - | - | - | +| 232 | 4 | [Position P Gain](#position-p-gain) | RW | - | - | - | +| 236 | 4 | [Position FF Gain](#position-ff-gain) | RW | - | - | - | +| 240 | 4 | [Profile Acceleration](#profile-acceleration) | RW | - | - | - | +| 244 | 4 | [Profile Velocity](#profile-velocity) | RW | - | - | - | +| 248 | 4 | [Profile Acceleration Time](#profile-acceleration-time) | RW | - | - | - | +| 252 | 4 | [Profile Time](#profile-time) | RW | - | - | - | +| 256 | 2 | [Indirect Address 1] | RW | - | - | - | +| 258 | 2 | [Indirect Address 2] | RW | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | +| 509 | 2 | [Indirect Address 127] | RW | - | - | - | +| 510 | 2 | [Indirect Address 128] | RW | - | - | - | +| 512 | 1 | [Torque Enable](#torque-enable) | RW | - | - | - | +| 513 | 1 | [LED](#led) | RW | - | - | - | +| 516 | 2 | [PWM Offset](#pwm-offset) | RW | - | - | - | +| 518 | 2 | [Current Offset](#current-offset) | RW | - | - | - | +| 520 | 2 | [Velocity Offset](#velocity-offset) | RW | - | - | - | +| 524 | 4 | [Goal PWM](#goal-pwm) | RW | - | - | - | +| 526 | 4 | [Goal Current](#goal-current) | RW | - | - | - | +| 528 | 4 | [Goal Velocity](#goal-velocity) | RW | - | - | - | +| 532 | 4 | [Goal Position](#goal-position) | RW | - | - | - | +| 541 | 1 | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | [Realtime Tick](#realtime-tick) | R | - | - | - | +| 544 | 2 | [Present PWM](#present-pwm) | R | - | - | - | +| 546 | 2 | [Present Current](#present-current) | R | - | - | - | +| 548 | 4 | [Present Velocity](#present-velocity) | R | - | - | - | +| 552 | 4 | [Present Position](#present-position) | R | - | - | - | +| 560 | 4 | [Position Trajectory](#position-trajectory) | R | - | - | - | +| 564 | 4 | [Velocity Trajectory](#velocity-trajectory) | R | - | - | - | +| 568 | 2 | [Present Input Voltage](#present-input-voltage) | R | - | - | - | +| 570 | 1 | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | - | +| 571 | 1 | [Present Motor Temperature](#present-motor-temperature) | R | - | - | - | +| 634 | 1 | [Indirect Data 1](#indirect-data1) | RW | - | - | - | +| 635 | 1 | [Indirect Data 2](#indirect-data2) | RW | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | [Indirect Data 127](#indirect-data127) | RW | - | - | - | +| 761 | 1 | [Indirect Data 128](#indirect-data128) | RW | - | - | - | +| 919 | 1 | [Backup Ready](#backup-ready) | R | - | - | - | + + +
\ No newline at end of file diff --git a/_includes/en/dxl/y/first_warning.md b/_includes/en/dxl/y/first_warning.md new file mode 100644 index 000000000..12e9f9851 --- /dev/null +++ b/_includes/en/dxl/y/first_warning.md @@ -0,0 +1,7 @@ +For initial use, please refer to [Multi-Turn Backup Battery Replacement] to install and initialize the Multi-Turn Backup Battery. +{: .notice--warning} + +If an error occurs, please refer to [Error Code (153)] for information on the type of error and instructions on how to clear it +{: .notice--warning} + +[Multi-Turn Backup Battery Replacement]: #multi-turn-backup-battery-replacement \ No newline at end of file diff --git a/_includes/en/dxl/y/output_bearing_y.md b/_includes/en/dxl/y/output_bearing_y.md new file mode 100644 index 000000000..c7bc53aca --- /dev/null +++ b/_includes/en/dxl/y/output_bearing_y.md @@ -0,0 +1,89 @@ + +## [Output Bearing Specifications (L10=7,000hours@rated output speed)](#output-bearing-specifications-l107000hoursrated-output-speed) + +| Model | Basic dynamic load rating, C [N] | Offset from flange, df [m] | Roller pitch circle diameter, Dp [m] | 1Allowable Dynamic equivalent radial load, Pc_max [N] | 2Allowable moment load, M_max [N.m] | +|:-----------------:|:-----:|:------:|:------:|:------:|:----:| +| YM070-210-R051-RH | 5,182 | 0.0086 | 0.0498 | 1677.1 | 44.5 | +| YM070-210-R099-RH | 5,182 | 0.0086 | 0.0498 | 2046.4 | 54.4 | +| YM080-230-R051-RH | 6,842 | 0.0093 | 0.0569 | 2091.3 | 63.0 | +| YM080-230-R099-RH | 6,842 | 0.0093 | 0.0569 | 2551.7 | 76.9 | + + +{% capture output_bearing_notice1 %} +**note :** +1) Allow dynamic equivalent radial load (Pc_mac) must not exceed this value. +2) Allowable moment load, Ma is Lr + df = 0, and La = 0 +{% endcapture %} + +
{{ output_bearing_notice1 | markdownify }}
+ +## [Bearing Life](#bearing-life) + +![](/assets/images/dxl/y/bearing_formula_1.jpg) + + +- L10 - Bearing life [hour] +- Na - Average output speed [rpm] +- C - Basic dynamic load rating [N] +- Pc - Dynamic equivalent radial load [N] +- Tf - Temperature factor (Tf=1.0 less 100℃) +- Lf - Load factor (Table.B2) + + +## [Dynamic Equivalent Radial Load](#dynamic-equivalent-radial-load) + +![](/assets/images/dxl/y/bearing_formula_2.jpg) + +- Pc - Dynamic equivalent radial load [N] +- Fr - Radial load [N] +- Fa - Axial load [N] +- M - Moment [N.m] +- X - Dynamic radial factor (Table.B3) +- Y - Dynamic axial factor (Table.B3) +- Dp - Roller pitch circle diameter [m] + + +## [Dynamic Equivalent Radial Allowable Load](#dynamic-equivalent-radial-allowable-load) + +![](/assets/images/dxl/y/bearing_formula_3.jpg) + +- L10 - Bearing life [hour] @ 7,000 hour +- Nn - Nominal output speed [rpm] @ input speed 2,000rpm ÷ gear ratio +- C- Basic dynamic load rating [N] +- Tf - Temperature factor (Tf=1.0 less 100℃) @ Tf = 1.0 +- Lf - Load factor (Table.B2) @ Lf=1.0 +- Pc_max - Allowable dynamic equivalent radial load [N] + + +## [Allowable Radial Load](#allowable-radial-load) + +![](/assets/images/dxl/y/bearing_formula_4.jpg) + + +- Pc_max - Allowable dynamic equivalent radial load [N] +- Fa - Axial load [N] +- M - Moment [N.m] +- X - Dynamic radial factor (Table.B3) +- Y - Dynamic axial factor (Table.B3) +- Dp - Roller pitch circle diameter [m] (Table.B1) +- df - Offset from flange [m] +- Lr - Distance of radial load [m] +- Fr_max - Allowable radial load [N] + +## [Table](#table) + +Table.B2 Load factor + +| Conditions | Lf | +|:-----------------------------|:---------:| +| Smooth motion without impact | 1.0 ~ 1.2 | +| Normal motion | 1.2 ~ 1.5 | +| Motion with severe impact | 1.5 ~ 3.0 | + +Table.B3 Dynamic radial/axial factor + +| Classification | X | Y | +|:------------------------------------------|:----:|:----:| +| F_a/(F_r+2M/Dp)≤1.5 | 1.0 | 0.45 | +| F_a/(F_r+2M/Dp)≤1.5 | 0.67 | 0.67 | +| If, Fr=0 and M=0, assuming X=0.67, Y=0.67 | | | \ No newline at end of file diff --git a/_includes/en/dxl/y/specifications_y.md b/_includes/en/dxl/y/specifications_y.md new file mode 100644 index 000000000..16eac624d --- /dev/null +++ b/_includes/en/dxl/y/specifications_y.md @@ -0,0 +1,34 @@ + +| Item | Specifications | +|:-------------------------------|:----------------------------------------------------------| +| MCU | {{ site.data.dxl_y_info[page.ref].mcu }} | +| Motor | {{ site.data.dxl_y_info[page.ref].motor }} | +| Baud Rate | {{ site.data.dxl_y_info[page.ref].baudrate }} | +| Operating Modes | {{ site.data.dxl_y_info[page.ref].opmode_en }} | +| Weight | {{ site.data.dxl_y_info[page.ref].weight }} | +| Dimensions (W x H x D) | {{ site.data.dxl_y_info[page.ref].dimensions }} | +| Resolution | {{ site.data.dxl_y_info[page.ref].resolution }} | +| Encoder Specifications | {{ site.data.dxl_y_info[page.ref].encoderspec }} | +| Gear Ratio | {{ site.data.dxl_y_info[page.ref].gearratio }} | +| Backlash | {{ site.data.dxl_y_info[page.ref].backlash }} | +| Radial Load | {{ site.data.dxl_y_info[page.ref].radialload }} | +| No Load Speed | {{ site.data.dxl_y_info[page.ref].noloadspeed }} | +| Continuous Speed | {{ site.data.dxl_y_info[page.ref].contspeed }} | +| Continuous Torque | {{ site.data.dxl_y_info[page.ref].conttorque }} | +| Continuous Current1) | {{ site.data.dxl_y_info[page.ref].contcurrent }} | +| Maximum Torque2) | {{ site.data.dxl_y_info[page.ref].maximumtorque }} | +| Maximum Current1) 2) | {{ site.data.dxl_y_info[page.ref].maximumcurrent }} | +| Output | {{ site.data.dxl_y_info[page.ref].output }} | +| Operating Temperature | {{ site.data.dxl_y_info[page.ref].temperature }} | +| Command Signal | {{ site.data.dxl_y_info[page.ref].commandsignal }} | +| Physical Connection | {{ site.data.dxl_y_info[page.ref].connection_en }} | +| ID | {{ site.data.dxl_y_info[page.ref].id }} | +| Standby Current | {{ site.data.dxl_y_info[page.ref].standbycurrent }} | + + +{% capture spec_notice %} +1) The current value represents the phase current of the motor. +2) Maximum Torque and Current are values that can be used instantaneously. Continuously exceeding these ratings will initiate an overload error to protect the device. +{% endcapture %} +
{{ spec_notice | markdownify }}
+ diff --git a/_includes/en/dxl/y/uart_connection_y.md b/_includes/en/dxl/y/uart_connection_y.md new file mode 100644 index 000000000..1ef293934 --- /dev/null +++ b/_includes/en/dxl/y/uart_connection_y.md @@ -0,0 +1,15 @@ + + +### [UART Connection Circuit Diagram](#uart-connection-circuit-diagram) +To control DYNAMIXEL-Y with a custom made Main Controller, the signal of the Main Controller UART should be converted into RS-485. Below is the recommended circuit diagram. + +![](/assets/images/dxl/y/uart_connection.PNG) + +**Note**: The circuit above is suitable for MCUs that use 5V power or when the IO is 5V tolerant. For other cases, use a Level Shifter to match the voltage. +{: .notice} + +The above circuit is integrated into DYNAMIXEL-exclusive controllers. In the provided circuit diagram, the direction of the data signal of TTL Level TxD and RxD is determined based on the level of TX_Enable_5V as indicated below. +- If TX_Enable_5V =High : The TxD signal is transferred to D+ and D- +- If TX_Enable_5V =Low : The D+ and D- signals are transferred to RxD + + diff --git a/_includes/en/dxl/y/y_control_table.md b/_includes/en/dxl/y/y_control_table.md new file mode 100644 index 000000000..9f48037ee --- /dev/null +++ b/_includes/en/dxl/y/y_control_table.md @@ -0,0 +1,62 @@ + +# [Control Table](#control-table) + +The DYNAMIXEL control table is how the servo stores and represents its current state, as well as all of the data required for DYNAMIXEL configuration and control. DYNAMIXEL instruction packets allow users to read and write data to and from the control table to control the servo as well as monitor the device status. + +## [Control Table, Data, Address](#control-table-data-address) +The Control Table is a structure that consists of multiple Data fields to store status or to control the device. +Each control table address is a unique value specified in Instruction Packets to access specific data in the Control Table. To read or write device data, you need to specify the corresponding address of the intended data in the Instruction Packet. For more detailed information about DYNAMIXEL packet structure, please refer to the [DYNAMIXEL Protocol 2.0] eManual page. + +**Note**: The representation of negative numbers follows the Two’s complement rule. For a detailed ㄷexplanation of Two’s complement, please refer to Wikipedia's article on "[Two's complement]." +{: .notice} + + +### [Area (EEPROM, RAM, Hybrid)](#area-eeprom-ram) +The control table is divided into three areas: EEPROM, RAM, and Hybrid. Here are the characteristics of each area: + + + + + + + + + + + + + + + + + + + + +
AreaDetai
EEPROM + Values in the EEPROM area are preserved even when the power is turned off. (Memory is Non-Volatile). The values in this area can only be altered when the value of Torque Enable (512) is '0' (Torque OFF). +
RAM + The RAM area resets to its default values whenever power is applied (Memory is Volatile). The values in this area can be changed regardless of the value of Torque Enable. +
HybridThe Hybrid area retains its values even when power is turned off, and changes can be made regardless of the Torque Enable value.
+ When torque is disabled (Torque Enable = 0), it behaves like the EEPROM area. Values are immediately stored when changed.
+ When torque is enabled (Torque Enable = 1), it behaves like the RAM area. Changes are possible but not immediately stored. To save changes made in this state, use Gain Save (170) when torque has been disabled. +
+ + +### [Size](#size) +Data consisting of 2 bytes or more may occupy multiple sequential control table registers up to 4 bytes long. When addressing control table data, the size of the control table item to be modified must be specified in the Instruction Packet to ensure proper data access. +Serial data with 2 bytes or more is represented in the control table using the [Little Endian] rule. + +### [Access Authorization](#access-authorization) +Data in the control table has two access attributes. 'RW' indicates that both reading and writing are possible. 'R' indicates a read-only attribute. Data with a read-only attribute cannot have its value changed using WRITE Instructions. +Read-only attributes ('R') are primarily used for measurement or monitoring purposes, while read-write attributes ('RW') are used for device configuration and control. + + +### [Default Values](#default-values) +The default values in the EEPROM area as indicated in the manual are the initial settings of the product (factory default settings). When using the Factory Reset Instruction, any changes made by the user to the EEPROM will be reset to their default values. +The default values in the RAM area are the values set when power is supplied to the device. + + +[DYNAMIXEL Protocol 2.0]: /docs/en/dxl/protocol2/ +[Two's complement]: https://en.wikipedia.org/wiki/Two%27s_complement +[Little Endian]: https://en.wikipedia.org/wiki/Endianness#Little diff --git a/_includes/en/dxl/y/y_profile_description.md b/_includes/en/dxl/y/y_profile_description.md new file mode 100644 index 000000000..83942adf6 --- /dev/null +++ b/_includes/en/dxl/y/y_profile_description.md @@ -0,0 +1,47 @@ +A profile is a control method used in motor operation to control rapid changes in speed and acceleration, thereby reducing vibrations, noise, and motor loads through controlled acceleration and deceleration. +It is also called Velocity Profile as it controls acceleration and deceleration based on velocity. +The device offers three types of profiles. The following are the three available profile types. Generally, the profile selection is determined by the combination of [Profile Velocity(244)] and [Profile Acceleration(240)]. As an exception, the trapezoidal profile is selected by additionally considering the total movement distance (ΔPos, the difference between the target position and the current position). + +![](/assets/images/dxl/y//profile_1.PNG) + +When the device's profile is assigned the [Goal Position(532)], it generates a target velocity trajectory based on the current speed (the initial speed of the profile). +Therefore, even if the target position changes to a new [Goal Position(532)] while the device is in transit, the target speed trajectory is adjusted to ensure smooth speed transition. +The function responsible for creating a target velocity trajectory to prevent velocity discontinuity like this is called Velocity Override. Here, for simplicity in the formula, the initial speed of the profile is assumed to be '0'. + +The following outlines the profile operation process for the [Goal Position(532)] command when the [Operating Mode(33)] is in position control mode. + +{% capture profile_vel_ex1 %} +1. The user’s request is registered in the [Goal Position(532)](#goal-position532) through the communication bus. +2. The acceleration time (t1) is determined by the [Profile Velocity(244)](#profile-acceleration240-profile-velocity244) and [Profile Acceleration(240)](#profile-acceleration240-profile-velocity244). +3. The shape of the profile is determined by the [Profile Velocity(244)](#profile-acceleration240-profile-velocity244), [Profile Acceleration(240)](#profile-acceleration240-profile-velocity244), and the total movement distance (ΔPos, the difference between the target position and the current position) as follows. +4. The type of the final selected profile is indicated in the [Moving Status(541)](#moving-status541). +5. The device moves according to the target trajectory calculated by the profile. +6. The target velocity trajectory and target position trajectory by the profile are shown in the [Position Trajectory(560)](#position-trajectory560) and [Velocity Trajectory(564)](#velocity-trajectory564). +{% endcapture %} + +
{{ profile_vel_ex1 | markdownify }}
+ +| Condition | Types of Profile | +|:------------------------------------------------------------------:|:----------------------------------| +| [Profile Velocity(244)] = 0 | Profile unused (Step instruction) | +| ([Profile Velocity(244)] ≠ 0) & ([Profile Acceleration(240)] = 0) | Rectangular profile | +| ([Profile Velocity(244)] ≠ 0) & ([Profile Acceleration(240)] ≠ 0) | Trapezoidal profile | + +![](/assets/images/dxl/y//profile_2.PNG) + +{% capture group_notice_01 %} +**Note** : In velocity control mode, only [Profile Acceleration(240)] is used and the two available profile shapes are Step and Trapezoidal. +The Velocity Override function operates in a similar manner. +The acceleration time (t1) in this case is as follows. + +**Velocity-based Profile: t1 = 600 * {Profile Velocity(240) / Profile Acceleration(244)} [ms]** +**Time-based Profile: t1 = Profile Acceleration Time(252) [ms]** +{% endcapture %} + +
+ {{ group_notice_01 | markdownify }} +
+ +[Profile Acceleration Time(248)]: #profile-acceleration-time248-profile-time252 +[Profile Velocity(244)]: #profile-acceleration240-profile-velocity244 +[Profile Acceleration(240)]: #profile-acceleration240-profile-velocity244 \ No newline at end of file diff --git a/_includes/en/dxl/y/y_warning.md b/_includes/en/dxl/y/y_warning.md new file mode 100644 index 000000000..5ce2c6094 --- /dev/null +++ b/_includes/en/dxl/y/y_warning.md @@ -0,0 +1,67 @@ +{% capture inspection %} +**Before Using the Product** +- Please familiarize yourself with the contents of the manual before using the product. If the product is operated with incorrect assembly, it may cause vibration, shortened lifespan, and/or permanent damage. +- Please verify that the model number and format match the product you ordered. +- Ensure that all components are included in the product package. +- Check for any damage to the surface and appearance of the product. +- Before operating, connect the included battery and perform a multi-turn initialization. + +{% endcapture %} +
{{ inspection | markdownify }}
+ +{% capture common_danger %} +![](/assets/images/icon_warning.png) +**Danger** +(May cause serious injury or death.) +- Do not splash or pour flammable substances, surfactants, beverages, or water on or around the product. +- Do not insert hands, feet, or any body parts into the product during operation. +- If an unusual odor or smoke comes from the product, disconnect the power immediately. +- Do not allow children to play with the product. +- Always check the polarity of the power source before connecting or supplying power. +{% if page.product_group == 'dxl_y_r' or page.product_group == 'dxl_y_a' %} +- Avoid making contact of the skin and eyes with the lubricant, as it may cause irritation. +- In case you make contact of eyes with the lubricant, wash eyes immediately with clean water and seek medical advice. +- In case of contact of the skin with the lubricant, wash skin thoroughly with water and soap. +{% endif %} +{% endcapture %} +
{{ common_danger | markdownify }}
+ +{% capture dxl_caution %} +![](/assets/images/icon_warning.png) +**Warning** +(May cause injury or damage to the product.) +- Please adhere to the product's operating environment limitations. (Temperature: -5 ~ +55 [°C]) +- Do not allow blades, sharp objects, sparks, and the like to be inserted or applied to the product during operation. +{% endcapture %} +
{{ dxl_caution | markdownify }}
+ +{% capture dxl_attention %} +![](/assets/images/icon_warning.png) +**Warning** +(May cause injury or damage to the product.) +- The product is not intended to be disassembled or modified by the user. +- Do not subject the product to strong impacts or drops. +- Please review the contents of the manual before using the product. {% if page.product_group == 'dxl_y_r' or page.product_group == 'dxl_y_a' %}If you operate it without assembling it correctly, it may cause vibration, reduce its lifespan, or cause damage. +- Be careful not to apply a load exceeding the allowable peak torque (emergency stop). +- Use at an ambient temperature of -5 to 55 degrees Celsius. +- Prevent dust, chips, etc., from entering the product. +- While lubricant leakage prevention has been applied, the product may still be subject to leakage. Provide protection treatment as needed according to your application. +- While anti-rust treatment has been applied, rust may appear depending on storage and environmental conditions. +- While the product is coated with surface treatment, rust protection is not guaranteed. +- This product is pre-packed with lubricant; do not mix with other lubricants. +- Please follow local government guidelines when disposing of the lubricant. +{% endif %} +{% endcapture %} +
{{ dxl_attention | markdownify }}
+ +{% capture guarantee %} +**Warranty Coverage** +- This product is covered under warranty for 1 year after the purchase date. (* Product must be used under normal operating conditions) +- If there are any issues due to a manufacturing defect within the warranty period, ROBOTIS will repair or replace the product at no additional cost. +- Warranty will be void if the product is deemed to be used or handled improperly by the user. +- Warranty will be void if the product is taken apart, repaired, or modified in any way. +- Warranty will be void if the product is damaged by any external components. +- Warranty will be void in the case the product is affected by natural disasters and/or uncontrollable circumstances. +- ROBOTIS is not responsible for any damages or injuries resulting from product failure. Use at your own discretion. +{% endcapture %} +
{{ guarantee | markdownify }}
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z_oBCtFV0u@(R%C;lnx+rSpdLr3dv|n1_tYxY*3R`3Q*s;>k0fjdGLNL*gTE%n;F#0eWxV5Nbp%U6p!>LKP2SH>C~G$n`#v!s?B5$4;h1W00Bq{48qi>^&z+Os zMf%z#*x!Hi?Dpl7cpELH08Ew5=SrWoYx>L#Gu}22z`IU?S7U~xO*+gCHa?M(e5jwjJX(kcrvKl&1jqb;kp1War%-@G+Zc%P zJb3f{+whK`h5+0Yz@0)NU=Ml+JEh@&9Yz#E yDdhh{{Rrg4vHxoo1oDprKu+Sn*(rz?@&es;+VGXT#D@h6_>&Ts|5znz82Eoynr&zR literal 0 HcmV?d00001 diff --git a/docs/en/dxl/y/y.md b/docs/en/dxl/y/y.md new file mode 100644 index 000000000..d2779a545 --- /dev/null +++ b/docs/en/dxl/y/y.md @@ -0,0 +1,76 @@ +--- +layout: archive +lang: en +ref: dxl_y +permalink: /docs/en/dxl/y/ +sidebar: + title: DYNAMIXEL-Y + nav: "dynamixel_y" +--- + +![](/assets/images/dxl/y/y_series_product.png) + +DYNAMIXEL-Y is ROBOTIS’ industrialized premium smart actuator solution for full scale Robots + +# [Product Lineup](#product-lineup) + +![](/assets/images/dxl/y/dxl_y_productline_en.png) + +> DYNAMIXEL-Y Lineups + +**Features** +- High Performance Frameless motor +- Multi-turn Absolute Encoder +- Integrated Electric Brake for Safety +- Integrated Dynamixel Drive(DYD) +- Compact & Simple Design with Hollow Shaft +- Dynamic Motor Controller + +# [Key Specifications](#key-Specifications) + +| Model |Dimensions [mm]|Weight [g]|Resolution [pulse/rev]| Type | +|:-------------------:|:-------------:|:--------:|:--------------------:|:--------------:| +| [YM070-210-M001-RH] | Ø70 x 50.9 | 340g | 524,288 | Motor | +| [YM070-210-R051-RH] | Ø70 x 71.1 | 790g | 26,738,688 | Motor, Reducer | +| [YM070-210-R099-RH] | Ø70 x 71.1 | 790g | 51,904,512 | Motor, Reducer | +| [YM080-230-M001-RH] | Ø80 x 54.1 | 530g | 524,288 | Motor | +| [YM080-230-R051-RH] | Ø80 x 78.1 | 1,200g | 26,738,688 | Motor, Reducer | +| [YM080-230-R099-RH] | Ø80 x 78.1 | 1,200g | 51,904,512 | Motor, Reducer | + +# [Communication Circuit](#communication-circuit) + +## [UART Connection Circuit Diagram](#uart-connection-circuit-diagram) + +To control DYNAMIXEL-Y with a custom made Main Controller, the signal of the Main Controller UART should be converted into RS-485. Below is the recommended circuit diagram. + +![](/assets/images/dxl/y/uart_connection.PNG) + +**Note**: The circuit above is suitable for MCUs that use 5V power or when the IO is 5V tolerant. For other cases, use a Level Shifter to match the voltage. +{: .notice} + +The above circuit is integrated into DYNAMIXEL-exclusive controllers. In the provided circuit diagram, the direction of the data signal of TTL Level TxD and RxD is determined based on the level of TX_Enable_5V as indicated below. +- If TX_Enable_5V =High : The TxD signal is transferred to D+ and D- +- If TX_Enable_5V =Low : The D+ and D- signals are transferred to RxD + +## [Cable Connection](#cable-connection) +The pin configuration of the DYNAMIXEL-Y connector is shown below. + +### [YM070](#ym070) +![](/assets/images/dxl/y/70_connect_cable_1.png) + +![](/assets/images/dxl/y/70_connect_cable_2.png) + +### [YM080](#ym080) +![](/assets/images/dxl/y/80_connect_cable_1.PNG) + +![](/assets/images/dxl/y/80_connect_cable_2.PNG) + +**WARNING**: When wiring please pay attention to the pin arrangement. Incorrectly connected DYNAMIXEL-P may be damaged severely. +{: .notice--warning} + +[YM070-210-M001-RH]: /docs/en/dxl/y/ym070-210-m001-rh/ +[YM070-210-R051-RH]: /docs/en/dxl/y/ym070-210-r051-rh/ +[YM070-210-R099-RH]: /docs/en/dxl/y/ym070-210-r099-rh/ +[YM080-230-M001-RH]: /docs/en/dxl/y/ym080-230-m001-rh/ +[YM080-230-R051-RH]: /docs/en/dxl/y/ym080-230-r051-rh/ +[YM080-230-R099-RH]: /docs/en/dxl/y/ym080-230-r099-rh/ \ No newline at end of file diff --git a/docs/en/dxl/y/ym070-210-m001-rh.md b/docs/en/dxl/y/ym070-210-m001-rh.md new file mode 100644 index 000000000..94a809041 --- /dev/null +++ b/docs/en/dxl/y/ym070-210-m001-rh.md @@ -0,0 +1,450 @@ +--- +layout: archive +lang: en +ref: ym070-210-m001-rh +read_time: true +share: true +author_profile: false +permalink: /docs/en/dxl/y/ym070-210-m001-rh/ +sidebar: + title: YM070-210-M001-RH + nav: "ym070-210-m001-rh" +product_group: dxl_y_m +--- + +{::options parse_block_html="true" /} + +![](/assets/images/dxl/y/ym070-210-m-rh_porduct.png) + +> YM070-210-M001-RH + +{% include en/dxl/y/first_warning.md %} + +# [Key Specifications](#key-specifications) + +{% include en/dxl/y/specifications_y.md %} + +{% include en/dxl/y/y_warning.md %} + +## [Performance Graph](#performance-graph) + +![](/assets/images/dxl/y/ym070_210_m001_performance_graph.png) + +{% include en/dxl/note_performance_graph.md %} + + + +{% include en/dxl/y/y_control_table.md %} + +## [Control Table Configuration](#control-table-configuration) + +|Address| Size(Byte)| Area | Name |Access| Default | Range | Unit | +|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| +| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,000 | - | - | +| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 1 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | +| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 1 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 1 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 1 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 4 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 2 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 44,000 | 0 ~ 38,520,000 | 10 [rev/min²] | +| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 550,000 | 0 ~ 642,200 | 0.01 [rev/min] | +| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 2,147,483,647 | 1/R | +| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R | +| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] | +| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | RAM | Error Code History 1 | R | - | - | - | +| 155 | 1 | RAM | Error Code History 2 | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | RAM | Error Code History 15 | R | - | - | - | +| 169 | 1 | RAM | Error Code History 16 | R | - | - | - | +| 170 | 1 | RAM | [Gain Save](#gain-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 44,000 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 550,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - | +| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - | +| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - | +| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 2 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 4 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 4 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | RAM | Indirect Data 1 | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | RAM | Indirect Data 2 | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | RAM | Indirect Data 127 | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | RAM | Indirect Data 128 | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | + + +## [Control Table Description](#control-table-description) + +**Caution**: All data present in the EEPROM Area can only be modified when the value of Torque Enable (512) is '0'. +{: .notice--warning} + +### **[Model Number(0)](#model-number0)** + +{% include en/dxl/y/control_table_0_model_number.md %} + +### **[Model Information(2)](#model-information2)** + +{% include en/dxl/y/control_table_2_model_information.md %} + +### **[Firmware Version(6)](#firmware-version6)** + +{% include en/dxl/y/control_table_6_firmware_version.md %} + +### **[ID(7)](#id7)** + +{% include en/dxl/y/control_table_7_id.md %} + +### **[Bus Watchdog(8)](#bus-watchdog8)** + +{% include en/dxl/y/control_table_8_bus_watchdog.md %} + +### **[Secondary(Shadow) ID(10)](#secondaryshadow-id10)** + +{% include en/dxl/y/control_table_10_secondary_id.md %} + +### **[Protocol Type(11)](#protocol-type11)** + +{% include en/dxl/y/control_table_11_protocol_type.md %} + +### **[Baud Rate (Bus)(12)](#baud-rate-bus12)** + +{% include en/dxl/y/control_table_12_baud_rate.md %} + +### **[Return Delay Time(13)](#return-delay-time13)** + +{% include en/dxl/y/control_table_13_return_delay_time.md %} + +### **[Status Return Level(15)](#status-return-level15)** + +{% include en/dxl/y/control_table_15_status_return_level.md %} + +### **[Registered Instruction(16)](#registered-instruction16)** + +{% include en/dxl/y/control_table_16_registered_instruction.md %} + +### **[Drive Mode(32)](#drive-mode32)** + +{% include en/dxl/y/control_table_32_drive_mode.md %} + +### **[Operating Mode(33)](#operating-mode33)** + +{% include en/dxl/y/control_table_33_operating_mode.md %} + +### **[Startup Configuration(34)](#startup-configuration34)** + +{% include en/dxl/y/control_table_34_startup_configuration.md %} + +### **[Position Limit Threshold(38)](#position-limit-threshold38)** + +{% include en/dxl/y/control_table_38_position_limit_threshold.md %} + +### **[In-Position Threshold(40)](#in-position-threshold40)** + +{% include en/dxl/y/control_table_40_in_position_threshold.md %} + +### **[Following Error Threshold(44)](#following-error-threshold44)** + +{% include en/dxl/y/control_table_44_following_error_threshold.md %} + +### **[Moving Threshold(48)](#moving-threshold48)** + +{% include en/dxl/y/control_table_48_moving_threshold.md %} + +### **[Homing Offset(52)](#homing-offset52)** + +{% include en/dxl/y/control_table_52_homing_offset.md %} + +### **[Inverter/Motor Temperature Limit(56, 57)](#invertermotor-temperature-limit56-57)** + +{% include en/dxl/y/control_table_56_temperature_limit.md %} + +### **[Max/Min Voltage Limit(60, 62)](#maxmin-voltage-limit60-62)** + +{% include en/dxl/y/control_table_60_voltage_limit.md %} + +### **[PWM Limit(64)](#pwm-limit64)** + +{% include en/dxl/y/control_table_64_pwm_limit.md %} + +### **[Current Limit(66)](#current-limit66)** + +{% include en/dxl/y/control_table_66_current_limit.md %} + +### **[Acceleration Limit(68)](#acceleration-limit68)** + +{% include en/dxl/y/control_table_68_acceleration_limit.md %} + +| Unit | Range | +|:-------------:|:----------------:| +| 10 [rev/min²] | 0 ~ 38,748,000 | + +### **[Velocity Limit(72)](#velocity-limit72)** + +{% include en/dxl/y/control_table_72_velocity_limit.md %} + +| Unit | Range | Description | +|:-------------:|:---------------------:|:------------------------------------------------------------------------------------------------:| +| 0.01[RPM] | 0 ~ 642,200 | 100,000 = Maximum speed limited to 1,000[RPM]
642,200 = Maximum speed limited to 6,422[RPM] | + +### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** + +{% include en/dxl/y/control_table_76_position_limit.md %} + +### **[Electronic Gear Ratio Numerator/Denominator(96, 100)](#electronic-gear-ratio-numeratordenominator96-100)** + +{% include en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md %} + +### **[Torque ON-OFF Timing Chart](#torque-on-off-timing-chart)** + +{% include en/dxl/y/control_table_torque_on_off_timing_chart.md %} + +### **[Safe Stop Time(104)](#safe-stop-time104)** + +{% include en/dxl/y/control_table_104_safe_stop_time.md %} + +### **[Brake Delay(106), Goal Update Delay(108)](#brake-delay106-goal-update-delay108)** + +{% include en/dxl/y/control_table_106_brake_delay.md %} + +### **[Overexcitation Voltage(110), Normal Excitation Voltage(111), Overexcitation Time(112)](#overexcitation-voltage110-normal-excitation-voltage111-overexcitation-time112)** + +{% include en/dxl/y/control_table_110_overexcitation_voltage.md %} + +### **[Present Velocity LPF Frequency(132)](#present-velocity-lpf-frequency132)** + +{% include en/dxl/y/control_table_132_present_velocity_lpf_frequency.md %} + +### **[Goal Current LPF Frequency(134)](#goal-current-lpf-frequency134)** + +{% include en/dxl/y/control_table_134_goal_current_lpf_frequency.md %} + +### **[Position FF LPF Time(136)](#position-ff-lpf-time136)** + +{% include en/dxl/y/control_table_136_position_ff_lpf_time.md %} + +### **[Velocity FF LPF Time(138)](#velocity-ff-lpf-time138)** + +{% include en/dxl/y/control_table_138_velocity_ff_lpf_time.md %} + +### **[Controller State(152)](#controller-state152)** + +{% include en/dxl/y/control_table_152_controller_state.md %} + +### **[Error Code(153)](#error-code153)** + +{% include en/dxl/y/control_table_153_error_code.md %} + +### **[Gain Save(170)](#gain-save170)** + +{% include en/dxl/y/control_table_170_gain_save.md %} + +### **[Velocity I Gain(212), Velocity P Gain(216), Velocity FF Gain(220)](#velocity-i-gain212-velocity-p-gain216-velocity-ff-gain220)** + +{% include en/dxl/y/control_table_212_velocity_gain.md %} + +### **[Position D Gain(224), Position I Gain(228), Position P Gain(232), Position FF Gain(236)](#position-d-gain224-position-i-gain228-position-p-gain232-position-ff-gain236)** + +{% include en/dxl/y/control_table_224_position_gain.md %} + +### **[Profile Acceleration(240), Profile Velocity(244)](#profile-acceleration240-profile-velocity244)** + +{% include en/dxl/y/control_table_240_profile_acceleration.md %} + +### **[Profile Acceleration Time(248), Profile Time(252)](#profile-acceleration-time248-profile-time252)** + +{% include en/dxl/y/control_table_248_profile_acceleration_time.md %} + +### **[Torque Enable(512)](#torque-enable512)** + +{% include en/dxl/y/control_table_512_torque_enable.md %} + +### **[LED(513)](#led513)** + +{% include en/dxl/y/control_table_513_led.md %} + +### **[PWM/Current/Velocity Offset(516, 518, 520)](#pwmcurrentvelocity-offset516-518-520)** + +{% include en/dxl/y/control_table_516_pwm_current_veloctiy_offset.md %} + +### **[Goal PWM(524)](#goal-pwm524)** + +{% include en/dxl/y/control_table_524_goal_pwm.md %} + +### **[Goal Current(526)](#goal-current526)** + +{% include en/dxl/y/control_table_526_goal_current.md %} + +### **[Goal Velocity(528)](#goal-velocity528)** + +{% include en/dxl/y/control_table_528_goal_velocity.md %} + +### **[Goal Position(532)](#goal-position532)** + +{% include en/dxl/y/control_table_532_goal_position.md %} + +### **[Moving Status(541)](#moving-status541)** + +{% include en/dxl/y/control_table_541_moving_status.md %} + +### **[Realtime Tick(542)](#realtime-tick542)** + +{% include en/dxl/y/control_table_542_realtime_tick.md %} + +### **[Present PWM(544)](#present-pwm544)** + +{% include en/dxl/y/control_table_544_present_pwm.md %} + +### **[Present Current(546)](#present-current546)** + +{% include en/dxl/y/control_table_546_present_current.md %} + +### **[Present Velocity(548)](#present-velocity548)** + +{% include en/dxl/y/control_table_548_present_velocity.md %} + +### **[Present Position(552)](#present-position552)** + +{% include en/dxl/y/control_table_552_present_position.md %} + +### **[Position Trajectory(560)](#position-trajectory560)** + +{% include en/dxl/y/control_table_560_position_trajectory.md %} + +### **[Velocity Trajectory(564)](#velocity-trajectory564)** + +{% include en/dxl/y/control_table_564_velocity_trajectory.md %} + +### **[Present Input Voltage(568)](#present-input-voltage568)** + +{% include en/dxl/y/control_table_568_present_input_voltage.md %} + +### **[Present Inverter Temperature(570)](#present-inverter-temperature570)** + +{% include en/dxl/y/control_table_570_present_inverter_temperature.md %} + +### **[Present Motor Temperature(571)](#present-motor-temperature571)** + +{% include en/dxl/y/control_table_571_present_motor_temperature.md %} + +### **[Backup Ready(919)](#backup-ready919)** + +{% include en/dxl/y/control_table_919_backup_ready.md %} + +# [How to Assemble](#how-to-assemble) + +## [Assembly Guide](#assembly-guide) + +![](/assets/images/dxl/y/ym070_m_assembly.jpg) + +# [Maintenance](#maintenance) + +# [Reference](reference) + +## [Profile](#profile) + +{% include en/dxl/y/y_profile_description.md %} + +## [Certifications](#certifications) + +Please reach out to us at contactus2@robotis.com for certifications that are not listed. + +### [FCC](#fcc) + +{% include en/dxl/fcc_class_a.md %} + +## [Connector Information](#connector-information) + +{% include en/dxl/y/connector_y070.md %} + +## [Communication Circuit](#communication-circuit) + +{% include en/dxl/y/uart_connection_y.md %} + +## [Cable Connection](#cable-connection) + +The pin configuration of the DYNAMIXEL-Y connector is shown below. + +![](/assets/images/dxl/y/70_connect_cable_1.png) +![](/assets/images/dxl/y/70_connect_cable_2.png) + +## [Drawings](#drawings) + +- `Download` [PDF]{: .blank}, [DWG]{: .blank}, [STEP]{: .blank}, [IGES]{: .blank} + +## [Moment of Inertia](#moment-of-inertia) + +TBD + +{% include en/dxl/download_center_notice.md %} + +# [Clear Packet](#clear-packet) + +{% include en/dxl/y/clear_packet.md %} + +{% include en/dxl/common_link.md %} + + +[DWG]: https://www.robotis.com/service/download.php?no=2169 +[PDF]: https://www.robotis.com/service/download.php?no=2170 +[STEP]: https://www.robotis.com/service/download.php?no=2171 +[IGES]: https://www.robotis.com/service/download.php?no=2172 \ No newline at end of file diff --git a/docs/en/dxl/y/ym070-210-r051-rh.md b/docs/en/dxl/y/ym070-210-r051-rh.md new file mode 100644 index 000000000..667a0dbd7 --- /dev/null +++ b/docs/en/dxl/y/ym070-210-r051-rh.md @@ -0,0 +1,453 @@ +--- +layout: archive +lang: en +ref: ym070-210-r051-rh +read_time: true +share: true +author_profile: false +permalink: /docs/en/dxl/y/ym070-210-r051-rh/ +sidebar: + title: YM070-210-R051-RH + nav: "ym070-210-r051-rh" +product_group: dxl_y_r +--- + +{::options parse_block_html="true" /} + +![](/assets/images/dxl/y/ym070-210-r-rh_porduct.png) + +> YM070-210-R051-RH + +{% include en/dxl/y/first_warning.md %} + +# [Key Specifications](#key-specifications) + +{% include en/dxl/y/specifications_y.md %} + +{% include en/dxl/y/y_warning.md %} + +## [Performance Graph](#performance-graph) + +TBD + +{% include en/dxl/note_performance_graph.md %} + + + +{% include en/dxl/y/y_control_table.md %} + +## [Control Table Configuration](#control-table-configuration) + +|Address| Size(Byte)| Area | Name |Access| Default | Range | Unit | +|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| +| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,020 | - | - | +| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 1 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | +| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 1 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 1 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 1 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 4 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 2 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 755,294 | 10 [rev/min²] | +| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 12,592 | 0.01 [rev/min] | +| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 2,147,483,647 | 1/R | +| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R | +| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] | +| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | RAM | Error Code History 1 | R | - | - | - | +| 155 | 1 | RAM | Error Code History 2 | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | RAM | Error Code History 15 | R | - | - | - | +| 169 | 1 | RAM | Error Code History 16 | R | - | - | - | +| 170 | 1 | RAM | [Gain Save](#gain-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 313 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - | +| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - | +| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - | +| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 2 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 4 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 4 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | RAM | Indirect Data 1 | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | RAM | Indirect Data 2 | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | RAM | Indirect Data 127 | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | RAM | Indirect Data 128 | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | + + +## [Control Table Description](#control-table-description) + +**Caution**: All data present in the EEPROM Area can only be modified when the value of Torque Enable (512) is '0'. +{: .notice--warning} + +### **[Model Number(0)](#model-number0)** + +{% include en/dxl/y/control_table_0_model_number.md %} + +### **[Model Information(2)](#model-information2)** + +{% include en/dxl/y/control_table_2_model_information.md %} + +### **[Firmware Version(6)](#firmware-version6)** + +{% include en/dxl/y/control_table_6_firmware_version.md %} + +### **[ID(7)](#id7)** + +{% include en/dxl/y/control_table_7_id.md %} + +### **[Bus Watchdog(8)](#bus-watchdog8)** + +{% include en/dxl/y/control_table_8_bus_watchdog.md %} + +### **[Secondary(Shadow) ID(10)](#secondaryshadow-id10)** + +{% include en/dxl/y/control_table_10_secondary_id.md %} + +### **[Protocol Type(11)](#protocol-type11)** + +{% include en/dxl/y/control_table_11_protocol_type.md %} + +### **[Baud Rate (Bus)(12)](#baud-rate-bus12)** + +{% include en/dxl/y/control_table_12_baud_rate.md %} + +### **[Return Delay Time(13)](#return-delay-time13)** + +{% include en/dxl/y/control_table_13_return_delay_time.md %} + +### **[Status Return Level(15)](#status-return-level15)** + +{% include en/dxl/y/control_table_15_status_return_level.md %} + +### **[Registered Instruction(16)](#registered-instruction16)** + +{% include en/dxl/y/control_table_16_registered_instruction.md %} + +### **[Drive Mode(32)](#drive-mode32)** + +{% include en/dxl/y/control_table_32_drive_mode.md %} + +### **[Operating Mode(33)](#operating-mode33)** + +{% include en/dxl/y/control_table_33_operating_mode.md %} + +### **[Startup Configuration(34)](#startup-configuration34)** + +{% include en/dxl/y/control_table_34_startup_configuration.md %} + +### **[Position Limit Threshold(38)](#position-limit-threshold38)** + +{% include en/dxl/y/control_table_38_position_limit_threshold.md %} + +### **[In-Position Threshold(40)](#in-position-threshold40)** + +{% include en/dxl/y/control_table_40_in_position_threshold.md %} + +### **[Following Error Threshold(44)](#following-error-threshold44)** + +{% include en/dxl/y/control_table_44_following_error_threshold.md %} + +### **[Moving Threshold(48)](#moving-threshold48)** + +{% include en/dxl/y/control_table_48_moving_threshold.md %} + +### **[Homing Offset(52)](#homing-offset52)** + +{% include en/dxl/y/control_table_52_homing_offset.md %} + +### **[Inverter/Motor Temperature Limit(56, 57)](#invertermotor-temperature-limit56-57)** + +{% include en/dxl/y/control_table_56_temperature_limit.md %} + +### **[Max/Min Voltage Limit(60, 62)](#maxmin-voltage-limit60-62)** + +{% include en/dxl/y/control_table_60_voltage_limit.md %} + +### **[PWM Limit(64)](#pwm-limit64)** + +{% include en/dxl/y/control_table_64_pwm_limit.md %} + +### **[Current Limit(66)](#current-limit66)** + +{% include en/dxl/y/control_table_66_current_limit.md %} + +### **[Acceleration Limit(68)](#acceleration-limit68)** + +{% include en/dxl/y/control_table_68_acceleration_limit.md %} + +| Unit | Range | +|:-------------:|:----------------:| +| 10 [rev/min²] | 0 ~ 755,294 | + +### **[Velocity Limit(72)](#velocity-limit72)** + +{% include en/dxl/y/control_table_72_velocity_limit.md %} + +| Unit | Range | Description | +|:-------------:|:---------------------:|:--------------------------------------------------------------------------------------------:| +| 0.01[RPM] | 0 ~ 12,592 | 1,000 = Maximum speed limited to 10[RPM]
12,592 = Maximum speed limited to 125.92[RPM] | + +### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** + +{% include en/dxl/y/control_table_76_position_limit.md %} + +### **[Electronic Gear Ratio Numerator/Denominator(96, 100)](#electronic-gear-ratio-numeratordenominator96-100)** + +{% include en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md %} + +### **[Torque ON-OFF Timing Chart](#torque-on-off-timing-chart)** + +{% include en/dxl/y/control_table_torque_on_off_timing_chart.md %} + +### **[Safe Stop Time(104)](#safe-stop-time104)** + +{% include en/dxl/y/control_table_104_safe_stop_time.md %} + +### **[Brake Delay(106), Goal Update Delay(108)](#brake-delay106-goal-update-delay108)** + +{% include en/dxl/y/control_table_106_brake_delay.md %} + +### **[Overexcitation Voltage(110), Normal Excitation Voltage(111), Overexcitation Time(112)](#overexcitation-voltage110-normal-excitation-voltage111-overexcitation-time112)** + +{% include en/dxl/y/control_table_110_overexcitation_voltage.md %} + +### **[Present Velocity LPF Frequency(132)](#present-velocity-lpf-frequency132)** + +{% include en/dxl/y/control_table_132_present_velocity_lpf_frequency.md %} + +### **[Goal Current LPF Frequency(134)](#goal-current-lpf-frequency134)** + +{% include en/dxl/y/control_table_134_goal_current_lpf_frequency.md %} + +### **[Position FF LPF Time(136)](#position-ff-lpf-time136)** + +{% include en/dxl/y/control_table_136_position_ff_lpf_time.md %} + +### **[Velocity FF LPF Time(138)](#velocity-ff-lpf-time138)** + +{% include en/dxl/y/control_table_138_velocity_ff_lpf_time.md %} + +### **[Controller State(152)](#controller-state152)** + +{% include en/dxl/y/control_table_152_controller_state.md %} + +### **[Error Code(153)](#error-code153)** + +{% include en/dxl/y/control_table_153_error_code.md %} + +### **[Gain Save(170)](#gain-save170)** + +{% include en/dxl/y/control_table_170_gain_save.md %} + +### **[Velocity I Gain(212), Velocity P Gain(216), Velocity FF Gain(220)](#velocity-i-gain212-velocity-p-gain216-velocity-ff-gain220)** + +{% include en/dxl/y/control_table_212_velocity_gain.md %} + +### **[Position D Gain(224), Position I Gain(228), Position P Gain(232), Position FF Gain(236)](#position-d-gain224-position-i-gain228-position-p-gain232-position-ff-gain236)** + +{% include en/dxl/y/control_table_224_position_gain.md %} + +### **[Profile Acceleration(240), Profile Velocity(244)](#profile-acceleration240-profile-velocity244)** + +{% include en/dxl/y/control_table_240_profile_acceleration.md %} + +### **[Profile Acceleration Time(248), Profile Time(252)](#profile-acceleration-time248-profile-time252)** + +{% include en/dxl/y/control_table_248_profile_acceleration_time.md %} + +### **[Torque Enable(512)](#torque-enable512)** + +{% include en/dxl/y/control_table_512_torque_enable.md %} + +### **[LED(513)](#led513)** + +{% include en/dxl/y/control_table_513_led.md %} + +### **[PWM/Current/Velocity Offset(516, 518, 520)](#pwmcurrentvelocity-offset516-518-520)** + +{% include en/dxl/y/control_table_516_pwm_current_veloctiy_offset.md %} + +### **[Goal PWM(524)](#goal-pwm524)** + +{% include en/dxl/y/control_table_524_goal_pwm.md %} + +### **[Goal Current(526)](#goal-current526)** + +{% include en/dxl/y/control_table_526_goal_current.md %} + +### **[Goal Velocity(528)](#goal-velocity528)** + +{% include en/dxl/y/control_table_528_goal_velocity.md %} + +### **[Goal Position(532)](#goal-position532)** + +{% include en/dxl/y/control_table_532_goal_position.md %} + +### **[Moving Status(541)](#moving-status541)** + +{% include en/dxl/y/control_table_541_moving_status.md %} + +### **[Realtime Tick(542)](#realtime-tick542)** + +{% include en/dxl/y/control_table_542_realtime_tick.md %} + +### **[Present PWM(544)](#present-pwm544)** + +{% include en/dxl/y/control_table_544_present_pwm.md %} + +### **[Present Current(546)](#present-current546)** + +{% include en/dxl/y/control_table_546_present_current.md %} + +### **[Present Velocity(548)](#present-velocity548)** + +{% include en/dxl/y/control_table_548_present_velocity.md %} + +### **[Present Position(552)](#present-position552)** + +{% include en/dxl/y/control_table_552_present_position.md %} + +### **[Position Trajectory(560)](#position-trajectory560)** + +{% include en/dxl/y/control_table_560_position_trajectory.md %} + +### **[Velocity Trajectory(564)](#velocity-trajectory564)** + +{% include en/dxl/y/control_table_564_velocity_trajectory.md %} + +### **[Present Input Voltage(568)](#present-input-voltage568)** + +{% include en/dxl/y/control_table_568_present_input_voltage.md %} + +### **[Present Inverter Temperature(570)](#present-inverter-temperature570)** + +{% include en/dxl/y/control_table_570_present_inverter_temperature.md %} + +### **[Present Motor Temperature(571)](#present-motor-temperature571)** + +{% include en/dxl/y/control_table_571_present_motor_temperature.md %} + +### **[Backup Ready(919)](#backup-ready919)** + +{% include en/dxl/y/control_table_919_backup_ready.md %} + +# [How to Assemble](#how-to-assemble) + +## [Assembly Guide](#assembly-guide) + +![](/assets/images/dxl/y/ym070_r_assembly.jpg) + +# [Maintenance](#maintenance) + +# [Reference](reference) + +## [Profile](#profile) + +{% include en/dxl/y/y_profile_description.md %} + +## [Certifications](#certifications) + +Please reach out to us at contactus2@robotis.com for certifications that are not listed. + +### [FCC](#fcc) + +{% include en/dxl/fcc_class_a.md %} + +## [Connector Information](#connector-information) + +{% include en/dxl/y/connector_y070.md %} + +## [Communication Circuit](#communication-circuit) + +{% include en/dxl/y/uart_connection_y.md %} + +## [Cable Connection](#cable-connection) + +The pin configuration of the DYNAMIXEL-Y connector is shown below. + +![](/assets/images/dxl/y/70_connect_cable_1.png) +![](/assets/images/dxl/y/70_connect_cable_2.png) + +## [Drawings](#drawings) + +- `Download` [PDF]{: .blank}, [DWG]{: .blank}, [STEP]{: .blank}, [IGES]{: .blank} + +## [Moment of Inertia](#moment-of-inertia) + +TBD + +{% include en/dxl/download_center_notice.md %} + +# [Clear Packet](#clear-packet) + +{% include en/dxl/y/clear_packet.md %} + +# [Output Bearing](#output-bearing) + +{% include en/dxl/y/output_bearing_y.md %} + +{% include en/dxl/common_link.md %} + +[DWG]: https://www.robotis.com/service/download.php?no=2173 +[PDF]: https://www.robotis.com/service/download.php?no=2174 +[STEP]: https://www.robotis.com/service/download.php?no=2175 +[IGES]: https://www.robotis.com/service/download.php?no=2176 diff --git a/docs/en/dxl/y/ym070-210-r099-rh.md b/docs/en/dxl/y/ym070-210-r099-rh.md new file mode 100644 index 000000000..d3621cc47 --- /dev/null +++ b/docs/en/dxl/y/ym070-210-r099-rh.md @@ -0,0 +1,451 @@ +--- +layout: archive +lang: en +ref: ym070-210-r099-rh +read_time: true +share: true +author_profile: false +permalink: /docs/en/dxl/y/ym070-210-r099-rh/ +sidebar: + title: YM070-210-R099-RH + nav: "ym070-210-r099-rh" +product_group: dxl_y_r +--- + +{::options parse_block_html="true" /} + +![](/assets/images/dxl/y/ym070-210-r-rh_porduct.png) + +> YM070-210-R099-RH + +{% include en/dxl/y/first_warning.md %} + +# [Key Specifications](#key-specifications) + +{% include en/dxl/y/specifications_y.md %} + +{% include en/dxl/y/y_warning.md %} + +## [Performance Graph](#performance-graph) + +![](/assets/images/dxl/y/ym070_210_r099_performance_graph.png) + +{% include en/dxl/note_performance_graph.md %} + +{% include en/dxl/y/y_control_table.md %} + +## [Control Table Configuration](#control-table-configuration) + +|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | +|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| +| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,030 | - | - | +| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 1 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | +| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 1 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 1 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 1 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 4 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 2 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 161 | 0 ~ 389,090 | 10 [rev/min²] | +| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 2,020 | 0 ~ 6,486 | 0.01 [rev/min] | +| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 2,147,483,647 | 1/R | +| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R | +| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] | +| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | RAM | Error Code History 1 | R | - | - | - | +| 155 | 1 | RAM | Error Code History 2 | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | RAM | Error Code History 15 | R | - | - | - | +| 169 | 1 | RAM | Error Code History 16 | R | - | - | - | +| 170 | 1 | RAM | [Gain Save](#gain-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 161 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - | +| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - | +| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - | +| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 2 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 4 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 4 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | RAM | Indirect Data 1 | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | RAM | Indirect Data 2 | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | RAM | Indirect Data 127 | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | RAM | Indirect Data 128 | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | + + +## [Control Table Description](#control-table-description) + +**Caution**: All data present in the EEPROM Area can only be modified when the value of Torque Enable (512) is '0'. +{: .notice--warning} + +### **[Model Number(0)](#model-number0)** + +{% include en/dxl/y/control_table_0_model_number.md %} + +### **[Model Information(2)](#model-information2)** + +{% include en/dxl/y/control_table_2_model_information.md %} + +### **[Firmware Version(6)](#firmware-version6)** + +{% include en/dxl/y/control_table_6_firmware_version.md %} + +### **[ID(7)](#id7)** + +{% include en/dxl/y/control_table_7_id.md %} + +### **[Bus Watchdog(8)](#bus-watchdog8)** + +{% include en/dxl/y/control_table_8_bus_watchdog.md %} + +### **[Secondary(Shadow) ID(10)](#secondaryshadow-id10)** + +{% include en/dxl/y/control_table_10_secondary_id.md %} + +### **[Protocol Type(11)](#protocol-type11)** + +{% include en/dxl/y/control_table_11_protocol_type.md %} + +### **[Baud Rate (Bus)(12)](#baud-rate-bus12)** + +{% include en/dxl/y/control_table_12_baud_rate.md %} + +### **[Return Delay Time(13)](#return-delay-time13)** + +{% include en/dxl/y/control_table_13_return_delay_time.md %} + +### **[Status Return Level(15)](#status-return-level15)** + +{% include en/dxl/y/control_table_15_status_return_level.md %} + +### **[Registered Instruction(16)](#registered-instruction16)** + +{% include en/dxl/y/control_table_16_registered_instruction.md %} + +### **[Drive Mode(32)](#drive-mode32)** + +{% include en/dxl/y/control_table_32_drive_mode.md %} + +### **[Operating Mode(33)](#operating-mode33)** + +{% include en/dxl/y/control_table_33_operating_mode.md %} + +### **[Startup Configuration(34)](#startup-configuration34)** + +{% include en/dxl/y/control_table_34_startup_configuration.md %} + +### **[Position Limit Threshold(38)](#position-limit-threshold38)** + +{% include en/dxl/y/control_table_38_position_limit_threshold.md %} + +### **[In-Position Threshold(40)](#in-position-threshold40)** + +{% include en/dxl/y/control_table_40_in_position_threshold.md %} + +### **[Following Error Threshold(44)](#following-error-threshold44)** + +{% include en/dxl/y/control_table_44_following_error_threshold.md %} + +### **[Moving Threshold(48)](#moving-threshold48)** + +{% include en/dxl/y/control_table_48_moving_threshold.md %} + +### **[Homing Offset(52)](#homing-offset52)** + +{% include en/dxl/y/control_table_52_homing_offset.md %} + +### **[Inverter/Motor Temperature Limit(56, 57)](#invertermotor-temperature-limit56-57)** + +{% include en/dxl/y/control_table_56_temperature_limit.md %} + +### **[Max/Min Voltage Limit(60, 62)](#maxmin-voltage-limit60-62)** + +{% include en/dxl/y/control_table_60_voltage_limit.md %} + +### **[PWM Limit(64)](#pwm-limit64)** + +{% include en/dxl/y/control_table_64_pwm_limit.md %} + +### **[Current Limit(66)](#current-limit66)** + +{% include en/dxl/y/control_table_66_current_limit.md %} + +### **[Acceleration Limit(68)](#acceleration-limit68)** + +{% include en/dxl/y/control_table_68_acceleration_limit.md %} + +| Unit | Range | +|:-------------:|:----------------:| +| 10 [rev/min²] | 0 ~ 389,090 | + +### **[Velocity Limit(72)](#velocity-limit72)** + +{% include en/dxl/y/control_table_72_velocity_limit.md %} + +| Unit | Range | Description | +|:-------------:|:---------------------:|:------------------------------------------------------------------------------------------:| +| 0.01[RPM] | 0 ~ 6,486 | 1,000 = Maximum speed limited to 10[RPM]
6,486 = Maximum speed limited to 64.86[RPM] | + +### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** + +{% include en/dxl/y/control_table_76_position_limit.md %} + +### **[Electronic Gear Ratio Numerator/Denominator(96, 100)](#electronic-gear-ratio-numeratordenominator96-100)** + +{% include en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md %} + +### **[Torque ON-OFF Timing Chart](#torque-on-off-timing-chart)** + +{% include en/dxl/y/control_table_torque_on_off_timing_chart.md %} + +### **[Safe Stop Time(104)](#safe-stop-time104)** + +{% include en/dxl/y/control_table_104_safe_stop_time.md %} + +### **[Brake Delay(106), Goal Update Delay(108)](#brake-delay106-goal-update-delay108)** + +{% include en/dxl/y/control_table_106_brake_delay.md %} + +### **[Overexcitation Voltage(110), Normal Excitation Voltage(111), Overexcitation Time(112)](#overexcitation-voltage110-normal-excitation-voltage111-overexcitation-time112)** + +{% include en/dxl/y/control_table_110_overexcitation_voltage.md %} + +### **[Present Velocity LPF Frequency(132)](#present-velocity-lpf-frequency132)** + +{% include en/dxl/y/control_table_132_present_velocity_lpf_frequency.md %} + +### **[Goal Current LPF Frequency(134)](#goal-current-lpf-frequency134)** + +{% include en/dxl/y/control_table_134_goal_current_lpf_frequency.md %} + +### **[Position FF LPF Time(136)](#position-ff-lpf-time136)** + +{% include en/dxl/y/control_table_136_position_ff_lpf_time.md %} + +### **[Velocity FF LPF Time(138)](#velocity-ff-lpf-time138)** + +{% include en/dxl/y/control_table_138_velocity_ff_lpf_time.md %} + +### **[Controller State(152)](#controller-state152)** + +{% include en/dxl/y/control_table_152_controller_state.md %} + +### **[Error Code(153)](#error-code153)** + +{% include en/dxl/y/control_table_153_error_code.md %} + +### **[Gain Save(170)](#gain-save170)** + +{% include en/dxl/y/control_table_170_gain_save.md %} + +### **[Velocity I Gain(212), Velocity P Gain(216), Velocity FF Gain(220)](#velocity-i-gain212-velocity-p-gain216-velocity-ff-gain220)** + +{% include en/dxl/y/control_table_212_velocity_gain.md %} + +### **[Position D Gain(224), Position I Gain(228), Position P Gain(232), Position FF Gain(236)](#position-d-gain224-position-i-gain228-position-p-gain232-position-ff-gain236)** + +{% include en/dxl/y/control_table_224_position_gain.md %} + +### **[Profile Acceleration(240), Profile Velocity(244)](#profile-acceleration240-profile-velocity244)** + +{% include en/dxl/y/control_table_240_profile_acceleration.md %} + +### **[Profile Acceleration Time(248), Profile Time(252)](#profile-acceleration-time248-profile-time252)** + +{% include en/dxl/y/control_table_248_profile_acceleration_time.md %} + +### **[Torque Enable(512)](#torque-enable512)** + +{% include en/dxl/y/control_table_512_torque_enable.md %} + +### **[LED(513)](#led513)** + +{% include en/dxl/y/control_table_513_led.md %} + +### **[PWM/Current/Velocity Offset(516, 518, 520)](#pwmcurrentvelocity-offset516-518-520)** + +{% include en/dxl/y/control_table_516_pwm_current_veloctiy_offset.md %} + +### **[Goal PWM(524)](#goal-pwm524)** + +{% include en/dxl/y/control_table_524_goal_pwm.md %} + +### **[Goal Current(526)](#goal-current526)** + +{% include en/dxl/y/control_table_526_goal_current.md %} + +### **[Goal Velocity(528)](#goal-velocity528)** + +{% include en/dxl/y/control_table_528_goal_velocity.md %} + +### **[Goal Position(532)](#goal-position532)** + +{% include en/dxl/y/control_table_532_goal_position.md %} + +### **[Moving Status(541)](#moving-status541)** + +{% include en/dxl/y/control_table_541_moving_status.md %} + +### **[Realtime Tick(542)](#realtime-tick542)** + +{% include en/dxl/y/control_table_542_realtime_tick.md %} + +### **[Present PWM(544)](#present-pwm544)** + +{% include en/dxl/y/control_table_544_present_pwm.md %} + +### **[Present Current(546)](#present-current546)** + +{% include en/dxl/y/control_table_546_present_current.md %} + +### **[Present Velocity(548)](#present-velocity548)** + +{% include en/dxl/y/control_table_548_present_velocity.md %} + +### **[Present Position(552)](#present-position552)** + +{% include en/dxl/y/control_table_552_present_position.md %} + +### **[Position Trajectory(560)](#position-trajectory560)** + +{% include en/dxl/y/control_table_560_position_trajectory.md %} + +### **[Velocity Trajectory(564)](#velocity-trajectory564)** + +{% include en/dxl/y/control_table_564_velocity_trajectory.md %} + +### **[Present Input Voltage(568)](#present-input-voltage568)** + +{% include en/dxl/y/control_table_568_present_input_voltage.md %} + +### **[Present Inverter Temperature(570)](#present-inverter-temperature570)** + +{% include en/dxl/y/control_table_570_present_inverter_temperature.md %} + +### **[Present Motor Temperature(571)](#present-motor-temperature571)** + +{% include en/dxl/y/control_table_571_present_motor_temperature.md %} + +### **[Backup Ready(919)](#backup-ready919)** + +{% include en/dxl/y/control_table_919_backup_ready.md %} + +# [How to Assemble](#how-to-assemble) + +## [Assembly Guide](#assembly-guide) + +![](/assets/images/dxl/y/ym070_r_assembly.jpg) + +# [Maintenance](#maintenance) + +# [Reference](reference) + +## [Profile](#profile) + +{% include en/dxl/y/y_profile_description.md %} + +## [Certifications](#certifications) + +Please reach out to us at contactus2@robotis.com for certifications that are not listed. + +### [FCC](#fcc) + +{% include en/dxl/fcc_class_a.md %} + +## [Connector Information](#connector-information) + +{% include en/dxl/y/connector_y070.md %} + +## [Communication Circuit](#communication-circuit) + +{% include en/dxl/y/uart_connection_y.md %} + +## [Cable Connection](#cable-connection) + +The pin configuration of the DYNAMIXEL-Y connector is shown below. + +![](/assets/images/dxl/y/70_connect_cable_1.png) +![](/assets/images/dxl/y/70_connect_cable_2.png) + +## [Drawings](#drawings) + +- `Download` [PDF]{: .blank}, [DWG]{: .blank}, [STEP]{: .blank}, [IGES]{: .blank} + +## [Moment of Inertia](#moment-of-inertia) + +TBD + +{% include en/dxl/download_center_notice.md %} + +# [Clear Packet](#clear-packet) + +{% include en/dxl/y/clear_packet.md %} + +# [Output Bearing](#output-bearing) + +{% include en/dxl/y/output_bearing_y.md %} + +{% include en/dxl/common_link.md %} + +[DWG]: https://www.robotis.com/service/download.php?no=2173 +[PDF]: https://www.robotis.com/service/download.php?no=2174 +[STEP]: https://www.robotis.com/service/download.php?no=2175 +[IGES]: https://www.robotis.com/service/download.php?no=2176 diff --git a/docs/en/dxl/y/ym080-230-m001-rh.md b/docs/en/dxl/y/ym080-230-m001-rh.md new file mode 100644 index 000000000..c9e18b801 --- /dev/null +++ b/docs/en/dxl/y/ym080-230-m001-rh.md @@ -0,0 +1,448 @@ +--- +layout: archive +lang: en +ref: ym080-230-m001-rh +read_time: true +share: true +author_profile: false +permalink: /docs/en/dxl/y/ym080-230-m001-rh/ +sidebar: + title: YM080-230-M001-RH + nav: "ym080-230-m001-rh" +product_group: dxl_y_m +--- + +{::options parse_block_html="true" /} + +![](/assets/images/dxl/y/ym080-230-m-rh_porduct.png) + +> YM080-230-M001-RH + +{% include en/dxl/y/first_warning.md %} + +# [Key Specifications](#key-specifications) + +{% include en/dxl/y/specifications_y.md %} + +{% include en/dxl/y/y_warning.md %} + +## [Performance Graph](#performance-graph) + +![](/assets/images/dxl/y/ym080_230_m001_performance_graph.png) + +{% include en/dxl/note_performance_graph.md %} + +{% include en/dxl/y/y_control_table.md %} + +## [Control Table Configuration](#control-table-configuration) + +|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | +|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| +| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,120 | - | - | +| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 1 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | +| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 1 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 1 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 1 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 1,000 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 4 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 2 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 24,800 | 0 ~ 21,336,000 | 10 [rev/min²] | +| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 310,000 | 0 ~ 355,600 | 0.01 [rev/min] | +| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 2,147,483,647 | 1/R | +| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R | +| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] | +| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | RAM | Error Code History 1 | R | - | - | - | +| 155 | 1 | RAM | Error Code History 2 | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | RAM | Error Code History 15 | R | - | - | - | +| 169 | 1 | RAM | Error Code History 16 | R | - | - | - | +| 170 | 1 | RAM | [Gain Save](#gain-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 24,800 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 310,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - | +| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - | +| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - | +| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 2 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 4 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 4 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | RAM | Indirect Data 1 | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | RAM | Indirect Data 2 | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | RAM | Indirect Data 127 | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | RAM | Indirect Data 128 | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | + + +## [Control Table Description](#control-table-description) + +**Caution**: All data present in the EEPROM Area can only be modified when the value of Torque Enable (512) is '0'. +{: .notice--warning} + +### **[Model Number(0)](#model-number0)** + +{% include en/dxl/y/control_table_0_model_number.md %} + +### **[Model Information(2)](#model-information2)** + +{% include en/dxl/y/control_table_2_model_information.md %} + +### **[Firmware Version(6)](#firmware-version6)** + +{% include en/dxl/y/control_table_6_firmware_version.md %} + +### **[ID(7)](#id7)** + +{% include en/dxl/y/control_table_7_id.md %} + +### **[Bus Watchdog(8)](#bus-watchdog8)** + +{% include en/dxl/y/control_table_8_bus_watchdog.md %} + +### **[Secondary(Shadow) ID(10)](#secondaryshadow-id10)** + +{% include en/dxl/y/control_table_10_secondary_id.md %} + +### **[Protocol Type(11)](#protocol-type11)** + +{% include en/dxl/y/control_table_11_protocol_type.md %} + +### **[Baud Rate (Bus)(12)](#baud-rate-bus12)** + +{% include en/dxl/y/control_table_12_baud_rate.md %} + +### **[Return Delay Time(13)](#return-delay-time13)** + +{% include en/dxl/y/control_table_13_return_delay_time.md %} + +### **[Status Return Level(15)](#status-return-level15)** + +{% include en/dxl/y/control_table_15_status_return_level.md %} + +### **[Registered Instruction(16)](#registered-instruction16)** + +{% include en/dxl/y/control_table_16_registered_instruction.md %} + +### **[Drive Mode(32)](#drive-mode32)** + +{% include en/dxl/y/control_table_32_drive_mode.md %} + +### **[Operating Mode(33)](#operating-mode33)** + +{% include en/dxl/y/control_table_33_operating_mode.md %} + +### **[Startup Configuration(34)](#startup-configuration34)** + +{% include en/dxl/y/control_table_34_startup_configuration.md %} + +### **[Position Limit Threshold(38)](#position-limit-threshold38)** + +{% include en/dxl/y/control_table_38_position_limit_threshold.md %} + +### **[In-Position Threshold(40)](#in-position-threshold40)** + +{% include en/dxl/y/control_table_40_in_position_threshold.md %} + +### **[Following Error Threshold(44)](#following-error-threshold44)** + +{% include en/dxl/y/control_table_44_following_error_threshold.md %} + +### **[Moving Threshold(48)](#moving-threshold48)** + +{% include en/dxl/y/control_table_48_moving_threshold.md %} + +### **[Homing Offset(52)](#homing-offset52)** + +{% include en/dxl/y/control_table_52_homing_offset.md %} + +### **[Inverter/Motor Temperature Limit(56, 57)](#invertermotor-temperature-limit56-57)** + +{% include en/dxl/y/control_table_56_temperature_limit.md %} + +### **[Max/Min Voltage Limit(60, 62)](#maxmin-voltage-limit60-62)** + +{% include en/dxl/y/control_table_60_voltage_limit.md %} + +### **[PWM Limit(64)](#pwm-limit64)** + +{% include en/dxl/y/control_table_64_pwm_limit.md %} + +### **[Current Limit(66)](#current-limit66)** + +{% include en/dxl/y/control_table_66_current_limit.md %} + +### **[Acceleration Limit(68)](#acceleration-limit68)** + +{% include en/dxl/y/control_table_68_acceleration_limit.md %} + +| Unit | Range | +|:-------------:|:----------------:| +| 10 [rev/min²] | 0 ~ 21,336,000 | + +### **[Velocity Limit(72)](#velocity-limit72)** + +{% include en/dxl/y/control_table_72_velocity_limit.md %} + +| Unit | Range | Description | +|:-------------:|:---------------------:|:------------------------------------------------------------------------------------------------:| +| 0.01[RPM] | 0 ~ 355,600 | 100,000 = Maximum speed limited to 1,000[RPM]
642,200 = Maximum speed limited to 6,422[RPM] | + +### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** + +{% include en/dxl/y/control_table_76_position_limit.md %} + +### **[Electronic Gear Ratio Numerator/Denominator(96, 100)](#electronic-gear-ratio-numeratordenominator96-100)** + +{% include en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md %} + +### **[Torque ON-OFF Timing Chart](#torque-on-off-timing-chart)** + +{% include en/dxl/y/control_table_torque_on_off_timing_chart.md %} + +### **[Safe Stop Time(104)](#safe-stop-time104)** + +{% include en/dxl/y/control_table_104_safe_stop_time.md %} + +### **[Brake Delay(106), Goal Update Delay(108)](#brake-delay106-goal-update-delay108)** + +{% include en/dxl/y/control_table_106_brake_delay.md %} + +### **[Overexcitation Voltage(110), Normal Excitation Voltage(111), Overexcitation Time(112)](#overexcitation-voltage110-normal-excitation-voltage111-overexcitation-time112)** + +{% include en/dxl/y/control_table_110_overexcitation_voltage.md %} + +### **[Present Velocity LPF Frequency(132)](#present-velocity-lpf-frequency132)** + +{% include en/dxl/y/control_table_132_present_velocity_lpf_frequency.md %} + +### **[Goal Current LPF Frequency(134)](#goal-current-lpf-frequency134)** + +{% include en/dxl/y/control_table_134_goal_current_lpf_frequency.md %} + +### **[Position FF LPF Time(136)](#position-ff-lpf-time136)** + +{% include en/dxl/y/control_table_136_position_ff_lpf_time.md %} + +### **[Velocity FF LPF Time(138)](#velocity-ff-lpf-time138)** + +{% include en/dxl/y/control_table_138_velocity_ff_lpf_time.md %} + +### **[Controller State(152)](#controller-state152)** + +{% include en/dxl/y/control_table_152_controller_state.md %} + +### **[Error Code(153)](#error-code153)** + +{% include en/dxl/y/control_table_153_error_code.md %} + +### **[Gain Save(170)](#gain-save170)** + +{% include en/dxl/y/control_table_170_gain_save.md %} + +### **[Velocity I Gain(212), Velocity P Gain(216), Velocity FF Gain(220)](#velocity-i-gain212-velocity-p-gain216-velocity-ff-gain220)** + +{% include en/dxl/y/control_table_212_velocity_gain.md %} + +### **[Position D Gain(224), Position I Gain(228), Position P Gain(232), Position FF Gain(236)](#position-d-gain224-position-i-gain228-position-p-gain232-position-ff-gain236)** + +{% include en/dxl/y/control_table_224_position_gain.md %} + +### **[Profile Acceleration(240), Profile Velocity(244)](#profile-acceleration240-profile-velocity244)** + +{% include en/dxl/y/control_table_240_profile_acceleration.md %} + +### **[Profile Acceleration Time(248), Profile Time(252)](#profile-acceleration-time248-profile-time252)** + +{% include en/dxl/y/control_table_248_profile_acceleration_time.md %} + +### **[Torque Enable(512)](#torque-enable512)** + +{% include en/dxl/y/control_table_512_torque_enable.md %} + +### **[LED(513)](#led513)** + +{% include en/dxl/y/control_table_513_led.md %} + +### **[PWM/Current/Velocity Offset(516, 518, 520)](#pwmcurrentvelocity-offset516-518-520)** + +{% include en/dxl/y/control_table_516_pwm_current_veloctiy_offset.md %} + +### **[Goal PWM(524)](#goal-pwm524)** + +{% include en/dxl/y/control_table_524_goal_pwm.md %} + +### **[Goal Current(526)](#goal-current526)** + +{% include en/dxl/y/control_table_526_goal_current.md %} + +### **[Goal Velocity(528)](#goal-velocity528)** + +{% include en/dxl/y/control_table_528_goal_velocity.md %} + +### **[Goal Position(532)](#goal-position532)** + +{% include en/dxl/y/control_table_532_goal_position.md %} + +### **[Moving Status(541)](#moving-status541)** + +{% include en/dxl/y/control_table_541_moving_status.md %} + +### **[Realtime Tick(542)](#realtime-tick542)** + +{% include en/dxl/y/control_table_542_realtime_tick.md %} + +### **[Present PWM(544)](#present-pwm544)** + +{% include en/dxl/y/control_table_544_present_pwm.md %} + +### **[Present Current(546)](#present-current546)** + +{% include en/dxl/y/control_table_546_present_current.md %} + +### **[Present Velocity(548)](#present-velocity548)** + +{% include en/dxl/y/control_table_548_present_velocity.md %} + +### **[Present Position(552)](#present-position552)** + +{% include en/dxl/y/control_table_552_present_position.md %} + +### **[Position Trajectory(560)](#position-trajectory560)** + +{% include en/dxl/y/control_table_560_position_trajectory.md %} + +### **[Velocity Trajectory(564)](#velocity-trajectory564)** + +{% include en/dxl/y/control_table_564_velocity_trajectory.md %} + +### **[Present Input Voltage(568)](#present-input-voltage568)** + +{% include en/dxl/y/control_table_568_present_input_voltage.md %} + +### **[Present Inverter Temperature(570)](#present-inverter-temperature570)** + +{% include en/dxl/y/control_table_570_present_inverter_temperature.md %} + +### **[Present Motor Temperature(571)](#present-motor-temperature571)** + +{% include en/dxl/y/control_table_571_present_motor_temperature.md %} + +### **[Backup Ready(919)](#backup-ready919)** + +{% include en/dxl/y/control_table_919_backup_ready.md %} + +# [How to Assemble](#how-to-assemble) + +## [Assembly Guide](#assembly-guide) + +![](/assets/images/dxl/y/ym080_m_assembly.jpg) + +# [Maintenance](#maintenance) + +# [Reference](reference) + +## [Profile](#profile) + +{% include en/dxl/y/y_profile_description.md %} + +## [Certifications](#certifications) + +Please reach out to us at contactus2@robotis.com for certifications that are not listed. + +### [FCC](#fcc) + +{% include en/dxl/fcc_class_a.md %} + +## [Connector Information](#connector-information) + +{% include en/dxl/y/connector_y080.md %} + +## [Communication Circuit](#communication-circuit) + +{% include en/dxl/y/uart_connection_y.md %} + +## [Cable Connection](#cable-connection) + +The pin configuration of the DYNAMIXEL-Y connector is shown below. + +![](/assets/images/dxl/y/80_connect_cable_1.PNG) +![](/assets/images/dxl/y/80_connect_cable_2.PNG) + +## [Drawings](#drawings) + +- `Download` [PDF]{: .blank}, [DWG]{: .blank}, [STEP]{: .blank}, [IGES]{: .blank} + +## [Moment of Inertia](#moment-of-inertia) + +TBD + +{% include en/dxl/download_center_notice.md %} + +# [Clear Packet](#clear-packet) + +{% include en/dxl/y/clear_packet.md %} + +{% include en/dxl/common_link.md %} + + +[DWG]: https://www.robotis.com/service/download.php?no=2177 +[PDF]: https://www.robotis.com/service/download.php?no=2178 +[STEP]: https://www.robotis.com/service/download.php?no=2179 +[IGES]: https://www.robotis.com/service/download.php?no=2180 diff --git a/docs/en/dxl/y/ym080-230-r051-rh.md b/docs/en/dxl/y/ym080-230-r051-rh.md new file mode 100644 index 000000000..a980222c0 --- /dev/null +++ b/docs/en/dxl/y/ym080-230-r051-rh.md @@ -0,0 +1,451 @@ +--- +layout: archive +lang: en +ref: ym080-230-r051-rh +read_time: true +share: true +author_profile: false +permalink: /docs/en/dxl/y/ym080-230-r051-rh/ +sidebar: + title: YM080-230-R051-RH + nav: "ym080-230-r051-rh" +product_group: dxl_y_r +--- + +{::options parse_block_html="true" /} + +![](/assets/images/dxl/y/ym080-230-r-rh_porduct.png) + +> YM080-230-R051-RH + +{% include en/dxl/y/first_warning.md %} + +# [Key Specifications](#key-specifications) + +{% include en/dxl/y/specifications_y.md %} + +{% include en/dxl/y/y_warning.md %} + +## [Performance Graph](#performance-graph) + +TBD + +{% include en/dxl/note_performance_graph.md %} + +{% include en/dxl/y/y_control_table.md %} + +## [Control Table Configuration](#control-table-configuration) + +|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | +|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| +| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,140 | - | - | +| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 1 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | +| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 1 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 1 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 1 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 19 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 4 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 2 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 418,352 | 10 [rev/min²] | +| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 6,972 | 0.01 [rev/min] | +| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 2,147,483,647 | 1/R | +| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R | +| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] | +| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | RAM | Error Code History 1 | R | - | - | - | +| 155 | 1 | RAM | Error Code History 2 | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | RAM | Error Code History 15 | R | - | - | - | +| 169 | 1 | RAM | Error Code History 16 | R | - | - | - | +| 170 | 1 | RAM | [Gain Save](#gain-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 313 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - | +| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - | +| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - | +| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 2 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 4 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 4 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | RAM | Indirect Data 1 | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | RAM | Indirect Data 2 | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | RAM | Indirect Data 127 | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | RAM | Indirect Data 128 | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | + + +## [Control Table Description](#control-table-description) + +**Caution**: All data present in the EEPROM Area can only be modified when the value of Torque Enable (512) is '0'. +{: .notice--warning} + +### **[Model Number(0)](#model-number0)** + +{% include en/dxl/y/control_table_0_model_number.md %} + +### **[Model Information(2)](#model-information2)** + +{% include en/dxl/y/control_table_2_model_information.md %} + +### **[Firmware Version(6)](#firmware-version6)** + +{% include en/dxl/y/control_table_6_firmware_version.md %} + +### **[ID(7)](#id7)** + +{% include en/dxl/y/control_table_7_id.md %} + +### **[Bus Watchdog(8)](#bus-watchdog8)** + +{% include en/dxl/y/control_table_8_bus_watchdog.md %} + +### **[Secondary(Shadow) ID(10)](#secondaryshadow-id10)** + +{% include en/dxl/y/control_table_10_secondary_id.md %} + +### **[Protocol Type(11)](#protocol-type11)** + +{% include en/dxl/y/control_table_11_protocol_type.md %} + +### **[Baud Rate (Bus)(12)](#baud-rate-bus12)** + +{% include en/dxl/y/control_table_12_baud_rate.md %} + +### **[Return Delay Time(13)](#return-delay-time13)** + +{% include en/dxl/y/control_table_13_return_delay_time.md %} + +### **[Status Return Level(15)](#status-return-level15)** + +{% include en/dxl/y/control_table_15_status_return_level.md %} + +### **[Registered Instruction(16)](#registered-instruction16)** + +{% include en/dxl/y/control_table_16_registered_instruction.md %} + +### **[Drive Mode(32)](#drive-mode32)** + +{% include en/dxl/y/control_table_32_drive_mode.md %} + +### **[Operating Mode(33)](#operating-mode33)** + +{% include en/dxl/y/control_table_33_operating_mode.md %} + +### **[Startup Configuration(34)](#startup-configuration34)** + +{% include en/dxl/y/control_table_34_startup_configuration.md %} + +### **[Position Limit Threshold(38)](#position-limit-threshold38)** + +{% include en/dxl/y/control_table_38_position_limit_threshold.md %} + +### **[In-Position Threshold(40)](#in-position-threshold40)** + +{% include en/dxl/y/control_table_40_in_position_threshold.md %} + +### **[Following Error Threshold(44)](#following-error-threshold44)** + +{% include en/dxl/y/control_table_44_following_error_threshold.md %} + +### **[Moving Threshold(48)](#moving-threshold48)** + +{% include en/dxl/y/control_table_48_moving_threshold.md %} + +### **[Homing Offset(52)](#homing-offset52)** + +{% include en/dxl/y/control_table_52_homing_offset.md %} + +### **[Inverter/Motor Temperature Limit(56, 57)](#invertermotor-temperature-limit56-57)** + +{% include en/dxl/y/control_table_56_temperature_limit.md %} + +### **[Max/Min Voltage Limit(60, 62)](#maxmin-voltage-limit60-62)** + +{% include en/dxl/y/control_table_60_voltage_limit.md %} + +### **[PWM Limit(64)](#pwm-limit64)** + +{% include en/dxl/y/control_table_64_pwm_limit.md %} + +### **[Current Limit(66)](#current-limit66)** + +{% include en/dxl/y/control_table_66_current_limit.md %} + +### **[Acceleration Limit(68)](#acceleration-limit68)** + +{% include en/dxl/y/control_table_68_acceleration_limit.md %} + +| Unit | Range | +|:-------------:|:----------------:| +| 10 [rev/min²] | 0 ~ 418,352 | + +### **[Velocity Limit(72)](#velocity-limit72)** + +{% include en/dxl/y/control_table_72_velocity_limit.md %} + +| Unit | Range | Description | +|:-------------:|:---------------------:|:-----------------------------------------------------------------------------------------:| +| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | + +### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** + +{% include en/dxl/y/control_table_76_position_limit.md %} + +### **[Electronic Gear Ratio Numerator/Denominator(96, 100)](#electronic-gear-ratio-numeratordenominator96-100)** + +{% include en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md %} + +### **[Torque ON-OFF Timing Chart](#torque-on-off-timing-chart)** + +{% include en/dxl/y/control_table_torque_on_off_timing_chart.md %} + +### **[Safe Stop Time(104)](#safe-stop-time104)** + +{% include en/dxl/y/control_table_104_safe_stop_time.md %} + +### **[Brake Delay(106), Goal Update Delay(108)](#brake-delay106-goal-update-delay108)** + +{% include en/dxl/y/control_table_106_brake_delay.md %} + +### **[Overexcitation Voltage(110), Normal Excitation Voltage(111), Overexcitation Time(112)](#overexcitation-voltage110-normal-excitation-voltage111-overexcitation-time112)** + +{% include en/dxl/y/control_table_110_overexcitation_voltage.md %} + +### **[Present Velocity LPF Frequency(132)](#present-velocity-lpf-frequency132)** + +{% include en/dxl/y/control_table_132_present_velocity_lpf_frequency.md %} + +### **[Goal Current LPF Frequency(134)](#goal-current-lpf-frequency134)** + +{% include en/dxl/y/control_table_134_goal_current_lpf_frequency.md %} + +### **[Position FF LPF Time(136)](#position-ff-lpf-time136)** + +{% include en/dxl/y/control_table_136_position_ff_lpf_time.md %} + +### **[Velocity FF LPF Time(138)](#velocity-ff-lpf-time138)** + +{% include en/dxl/y/control_table_138_velocity_ff_lpf_time.md %} + +### **[Controller State(152)](#controller-state152)** + +{% include en/dxl/y/control_table_152_controller_state.md %} + +### **[Error Code(153)](#error-code153)** + +{% include en/dxl/y/control_table_153_error_code.md %} + +### **[Gain Save(170)](#gain-save170)** + +{% include en/dxl/y/control_table_170_gain_save.md %} + +### **[Velocity I Gain(212), Velocity P Gain(216), Velocity FF Gain(220)](#velocity-i-gain212-velocity-p-gain216-velocity-ff-gain220)** + +{% include en/dxl/y/control_table_212_velocity_gain.md %} + +### **[Position D Gain(224), Position I Gain(228), Position P Gain(232), Position FF Gain(236)](#position-d-gain224-position-i-gain228-position-p-gain232-position-ff-gain236)** + +{% include en/dxl/y/control_table_224_position_gain.md %} + +### **[Profile Acceleration(240), Profile Velocity(244)](#profile-acceleration240-profile-velocity244)** + +{% include en/dxl/y/control_table_240_profile_acceleration.md %} + +### **[Profile Acceleration Time(248), Profile Time(252)](#profile-acceleration-time248-profile-time252)** + +{% include en/dxl/y/control_table_248_profile_acceleration_time.md %} + +### **[Torque Enable(512)](#torque-enable512)** + +{% include en/dxl/y/control_table_512_torque_enable.md %} + +### **[LED(513)](#led513)** + +{% include en/dxl/y/control_table_513_led.md %} + +### **[PWM/Current/Velocity Offset(516, 518, 520)](#pwmcurrentvelocity-offset516-518-520)** + +{% include en/dxl/y/control_table_516_pwm_current_veloctiy_offset.md %} + +### **[Goal PWM(524)](#goal-pwm524)** + +{% include en/dxl/y/control_table_524_goal_pwm.md %} + +### **[Goal Current(526)](#goal-current526)** + +{% include en/dxl/y/control_table_526_goal_current.md %} + +### **[Goal Velocity(528)](#goal-velocity528)** + +{% include en/dxl/y/control_table_528_goal_velocity.md %} + +### **[Goal Position(532)](#goal-position532)** + +{% include en/dxl/y/control_table_532_goal_position.md %} + +### **[Moving Status(541)](#moving-status541)** + +{% include en/dxl/y/control_table_541_moving_status.md %} + +### **[Realtime Tick(542)](#realtime-tick542)** + +{% include en/dxl/y/control_table_542_realtime_tick.md %} + +### **[Present PWM(544)](#present-pwm544)** + +{% include en/dxl/y/control_table_544_present_pwm.md %} + +### **[Present Current(546)](#present-current546)** + +{% include en/dxl/y/control_table_546_present_current.md %} + +### **[Present Velocity(548)](#present-velocity548)** + +{% include en/dxl/y/control_table_548_present_velocity.md %} + +### **[Present Position(552)](#present-position552)** + +{% include en/dxl/y/control_table_552_present_position.md %} + +### **[Position Trajectory(560)](#position-trajectory560)** + +{% include en/dxl/y/control_table_560_position_trajectory.md %} + +### **[Velocity Trajectory(564)](#velocity-trajectory564)** + +{% include en/dxl/y/control_table_564_velocity_trajectory.md %} + +### **[Present Input Voltage(568)](#present-input-voltage568)** + +{% include en/dxl/y/control_table_568_present_input_voltage.md %} + +### **[Present Inverter Temperature(570)](#present-inverter-temperature570)** + +{% include en/dxl/y/control_table_570_present_inverter_temperature.md %} + +### **[Present Motor Temperature(571)](#present-motor-temperature571)** + +{% include en/dxl/y/control_table_571_present_motor_temperature.md %} + +### **[Backup Ready(919)](#backup-ready919)** + +{% include en/dxl/y/control_table_919_backup_ready.md %} + +# [How to Assemble](#how-to-assemble) + +## [Assembly Guide](#assembly-guide) + +![](/assets/images/dxl/y/ym080_r_assembly.jpg) + +# [Maintenance](#maintenance) + +# [Reference](reference) + +## [Profile](#profile) + +{% include en/dxl/y/y_profile_description.md %} + +## [Certifications](#certifications) + +Please reach out to us at contactus2@robotis.com for certifications that are not listed. + +### [FCC](#fcc) + +{% include en/dxl/fcc_class_a.md %} + +## [Connector Information](#connector-information) + +{% include en/dxl/y/connector_y080.md %} + +## [Communication Circuit](#communication-circuit) + +{% include en/dxl/y/uart_connection_y.md %} + +## [Cable Connection](#cable-connection) + +The pin configuration of the DYNAMIXEL-Y connector is shown below. + +![](/assets/images/dxl/y/80_connect_cable_1.PNG) +![](/assets/images/dxl/y/80_connect_cable_2.PNG) + +## [Drawings](#drawings) + +- `Download` [PDF]{: .blank}, [DWG]{: .blank}, [STEP]{: .blank}, [IGES]{: .blank} + +## [Moment of Inertia](#moment-of-inertia) + +TBD + +{% include en/dxl/download_center_notice.md %} + +# [Clear Packet](#clear-packet) + +{% include en/dxl/y/clear_packet.md %} + +# [Output Bearing](#output-bearing) + +{% include en/dxl/y/output_bearing_y.md %} + +{% include en/dxl/common_link.md %} + +[DWG]: https://www.robotis.com/service/download.php?no=2181 +[PDF]: https://www.robotis.com/service/download.php?no=2182 +[STEP]: https://www.robotis.com/service/download.php?no=2183 +[IGES]: https://www.robotis.com/service/download.php?no=2184 \ No newline at end of file diff --git a/docs/en/dxl/y/ym080-230-r099-rh.md b/docs/en/dxl/y/ym080-230-r099-rh.md new file mode 100644 index 000000000..1600b1fc6 --- /dev/null +++ b/docs/en/dxl/y/ym080-230-r099-rh.md @@ -0,0 +1,452 @@ +--- +layout: archive +lang: en +ref: ym080-230-r099-rh +read_time: true +share: true +author_profile: false +permalink: /docs/en/dxl/y/ym080-230-r099-rh/ +sidebar: + title: YM080-230-R099-RH + nav: "ym080-230-r099-rh" +product_group: dxl_y_r +--- + +{::options parse_block_html="true" /} + +![](/assets/images/dxl/y/ym080-230-r-rh_porduct.png) + +> YM080-230-R099-RH + +{% include en/dxl/y/first_warning.md %} + +# [Key Specifications](#key-specifications) + +{% include en/dxl/y/specifications_y.md %} + +{% include en/dxl/y/y_warning.md %} + +## [Performance Graph](#performance-graph) + +![](/assets/images/dxl/y/ym080_230_r099_performance_graph.png) + +{% include en/dxl/note_performance_graph.md %} + +{% include en/dxl/y/y_control_table.md %} + +## [Control Table Configuration](#control-table-configuration) + +|Address| Size(Byte)| Name | Name |Access| Default | Range | Unit | +|:-----:|:---------:|:-------|:------------------------------------------------------------------------|:----:|:---------:|:------------------------------:|:-----------------:| +| 0 | 2 | EEPROM | [Model Number](#model-number) | R | 4,150 | - | - | +| 2 | 4 | EEPROM | [Model Information](#model-information) | R | - | - | - | +| 6 | 1 | EEPROM | [Firmware Version](#firmware-version) | R | - | - | - | +| 7 | 1 | EEPROM | [ID](#id) | RW | 1 | 0 ~ 252 | - | +| 8 | 1 | RAM | [Bus Watchdog](#bus-watchdog) | RW | 0 | 0 ~ 127 | - | +| 10 | 1 | EEPROM | [Secondary(Shadow) ID](#secondaryshadow-id) | RW | 255 | 0 ~ 252 | - | +| 11 | 1 | EEPROM | [Protocol Type](#protocol-type) | RW | 2 | 2 | - | +| 12 | 1 | EEPROM | [Baud Rate (Bus)](#baud-rate-bus) | RW | 1 | 0 ~ 9 | - | +| 13 | 1 | EEPROM | [Return Delay Time](#return-delay-time) | RW | 250 | 0 ~ 254 | 2 [us] | +| 15 | 1 | RAM | [Status Return Level](#status-return-level) | RW | 2 | 0 ~ 2 | - | +| 16 | 1 | RAM | [Registered Instruction](#registered-instruction) | R | 0 | 0 ~ 1 | - | +| 32 | 1 | EEPROM | [Drive Mode](#drive-mode) | RW | 0 | 0 ~ 77 | - | +| 33 | 1 | EEPROM | [Operating Mode](#operating-mode) | RW | 3 | 0 ~ 3 | - | +| 34 | 1 | EEPROM | [Startup Configuration](#startup-configuration) | RW | 0 | 0 ~ 1 | - | +| 38 | 1 | EEPROM | [Position Limit Threshold](#position-limit-threshold) | RW | 0 | 0 ~ 32,767 | 1 [pulse] | +| 40 | 1 | EEPROM | [In-Position Threshold](#in-position-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 44 | 1 | EEPROM | [Following Error Threshold](#following-error-threshold) | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] | +| 48 | 4 | EEPROM | [Moving Threshold](#moving-threshold) | RW | 10 | 0 ~ 2,147,483,647 | 5 [pulse/ms] | +| 52 | 4 | EEPROM | [Homing Offset](#homing-offset) | RW | 0 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 56 | 4 | EEPROM | [Inverter Temperature Limit](#inverter-temperature-limit) | RW | 80 | 0 ~ 100 | 1 [°C] | +| 57 | 2 | EEPROM | [Motor Temperature Limit](#motor-temperature-limit) | RW | 60 | 0 ~ 100 | 1 [°C] | +| 60 | 2 | EEPROM | [Max Voltage Limit](#max-voltage-limit) | RW | 320 | 240 ~ 400 | 0.1 [V] | +| 62 | 4 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | +| 64 | 2 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | +| 66 | 2 | EEPROM | [Current Limit](#current-limit) | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] | +| 68 | 4 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 161 | 0 ~ 215,515 | 10 [rev/min²] | +| 72 | 4 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 2,020 | 0 ~ 3,591 | 0.01 [rev/min] | +| 76 | 4 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] | +| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 2,147,483,647 | 1/R | +| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R | +| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] | +| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] | +| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] | +| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] | +| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] | +| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] | +| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] | +| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - | +| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - | +| 154 | 1 | RAM | Error Code History 1 | R | - | - | - | +| 155 | 1 | RAM | Error Code History 2 | R | - | - | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 168 | 1 | RAM | Error Code History 15 | R | - | - | - | +| 169 | 1 | RAM | Error Code History 16 | R | - | - | - | +| 170 | 1 | RAM | [Gain Save](#gain-save) | RW | 0 | 0 ~ 2 | - | +| 212 | 4 | Hybrid | [Velocity I Gain](#velocity-i-gain) | RW | 2,446,559 | 0 ~ 2,147,483,647 | - | +| 216 | 4 | Hybrid | [Velocity P Gain](#velocity-p-gain) | RW | 24,778 | 0 ~ 2,147,483,647 | - | +| 220 | 4 | Hybrid | [Velocity FF Gain](#velocity-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 224 | 4 | Hybrid | [Position D Gain](#position-d-gain) | RW | 9,090 | 0 ~ 2,147,483,647 | - | +| 228 | 4 | Hybrid | [Position I Gain](#position-i-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 232 | 4 | Hybrid | [Position P Gain](#position-p-gain) | RW | 6,283,185 | 0 ~ 2,147,483,647 | - | +| 236 | 4 | Hybrid | [Position FF Gain](#position-ff-gain) | RW | 0 | 0 ~ 2,147,483,647 | - | +| 240 | 4 | Hybrid | [Profile Acceleration](#profile-acceleration) | RW | 161 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] | +| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] | +| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] | +| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] | +| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - | +| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - | +| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - | +| 512 | 1 | RAM | [Torque Enable](#torque-enable) | RW | 0 | 0 ~ 1 | - | +| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - | +| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 518 | 2 | RAM | [Current Offset](#current-offset) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 520 | 2 | RAM | [Velocity Offset](#velocity-offset) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 524 | 4 | RAM | [Goal PWM](#goal-pwm) | RW | 0 | - Voltage(PWM) Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] | +| 526 | 4 | RAM | [Goal Current](#goal-current) | RW | 0 | - Current Limit(66) ~
Current Limit(66) | 0.01 [A] | +| 528 | 4 | RAM | [Goal Velocity](#goal-velocity) | RW | 0 | - Velocity Limit(72) ~
Velocity Limit(72) | 0.01 [rev/min] | +| 532 | 4 | RAM | [Goal Position](#goal-position) | RW | 0 | Min Position Limit(84) ~
Max Position Limit(76) | 1 [pulse] | +| 541 | 1 | RAM | [Moving Status](#moving-status) | R | - | - | - | +| 542 | 2 | RAM | [Realtime Tick](#realtime-tick) | R | - | - | 1[ms] | +| 544 | 2 | RAM | [Present PWM](#present-pwm) | R | - | - | 0.1 [%] | +| 546 | 2 | RAM | [Present Current](#present-current) | R | - | - | 0.01 [A] | +| 548 | 4 | RAM | [Present Velocity](#present-velocity) | R | - | - | 0.01 [rev/min] | +| 552 | 4 | RAM | [Present Position](#present-position) | R | - | - | 1 [pulse] | +| 560 | 4 | RAM | [Position Trajectory](#position-trajectory) | R | - | - | 1 [pulse] | +| 564 | 4 | RAM | [Velocity Trajectory](#velocity-trajectory) | R | - | - | 1 [pulse/s] | +| 568 | 2 | RAM | [Present Input Voltage](#present-input-voltage) | R | - | - | 0.01 [V] | +| 570 | 1 | RAM | [Present Inverter Temperature](#present-inverter-temperature) | R | - | - | 1 [°C] | +| 571 | 1 | RAM | [Present Motor Temperature](#present-motor-temperature) | R | - | - | 1 [°C] | +| 634 | 1 | RAM | Indirect Data 1 | RW | 0 | 0 ~ 255 | - | +| 635 | 1 | RAM | Indirect Data 2 | RW | 0 | 0 ~ 255 | - | +| ... | ... | ... | ... | ... | ... | ... | ... | +| 760 | 1 | RAM | Indirect Data 127 | RW | 0 | 0 ~ 255 | - | +| 761 | 1 | RAM | Indirect Data 128 | RW | 0 | 0 ~ 255 | - | +| 919 | 1 | RAM | [Backup Ready](#backup-ready) | R | - | - | - | + + +## [Control Table Description](#control-table-description) + +**Caution**: All data present in the EEPROM Area can only be modified when the value of Torque Enable (512) is '0'. +{: .notice--warning} + +### **[Model Number(0)](#model-number0)** + +{% include en/dxl/y/control_table_0_model_number.md %} + +### **[Model Information(2)](#model-information2)** + +{% include en/dxl/y/control_table_2_model_information.md %} + +### **[Firmware Version(6)](#firmware-version6)** + +{% include en/dxl/y/control_table_6_firmware_version.md %} + +### **[ID(7)](#id7)** + +{% include en/dxl/y/control_table_7_id.md %} + +### **[Bus Watchdog(8)](#bus-watchdog8)** + +{% include en/dxl/y/control_table_8_bus_watchdog.md %} + +### **[Secondary(Shadow) ID(10)](#secondaryshadow-id10)** + +{% include en/dxl/y/control_table_10_secondary_id.md %} + +### **[Protocol Type(11)](#protocol-type11)** + +{% include en/dxl/y/control_table_11_protocol_type.md %} + +### **[Baud Rate (Bus)(12)](#baud-rate-bus12)** + +{% include en/dxl/y/control_table_12_baud_rate.md %} + +### **[Return Delay Time(13)](#return-delay-time13)** + +{% include en/dxl/y/control_table_13_return_delay_time.md %} + +### **[Status Return Level(15)](#status-return-level15)** + +{% include en/dxl/y/control_table_15_status_return_level.md %} + +### **[Registered Instruction(16)](#registered-instruction16)** + +{% include en/dxl/y/control_table_16_registered_instruction.md %} + +### **[Drive Mode(32)](#drive-mode32)** + +{% include en/dxl/y/control_table_32_drive_mode.md %} + +### **[Operating Mode(33)](#operating-mode33)** + +{% include en/dxl/y/control_table_33_operating_mode.md %} + +### **[Startup Configuration(34)](#startup-configuration34)** + +{% include en/dxl/y/control_table_34_startup_configuration.md %} + +### **[Position Limit Threshold(38)](#position-limit-threshold38)** + +{% include en/dxl/y/control_table_38_position_limit_threshold.md %} + +### **[In-Position Threshold(40)](#in-position-threshold40)** + +{% include en/dxl/y/control_table_40_in_position_threshold.md %} + +### **[Following Error Threshold(44)](#following-error-threshold44)** + +{% include en/dxl/y/control_table_44_following_error_threshold.md %} + +### **[Moving Threshold(48)](#moving-threshold48)** + +{% include en/dxl/y/control_table_48_moving_threshold.md %} + +### **[Homing Offset(52)](#homing-offset52)** + +{% include en/dxl/y/control_table_52_homing_offset.md %} + +### **[Inverter/Motor Temperature Limit(56, 57)](#invertermotor-temperature-limit56-57)** + +{% include en/dxl/y/control_table_56_temperature_limit.md %} + +### **[Max/Min Voltage Limit(60, 62)](#maxmin-voltage-limit60-62)** + +{% include en/dxl/y/control_table_60_voltage_limit.md %} + +### **[PWM Limit(64)](#pwm-limit64)** + +{% include en/dxl/y/control_table_64_pwm_limit.md %} + +### **[Current Limit(66)](#current-limit66)** + +{% include en/dxl/y/control_table_66_current_limit.md %} + +### **[Acceleration Limit(68)](#acceleration-limit68)** + +{% include en/dxl/y/control_table_68_acceleration_limit.md %} + +| Unit | Range | +|:-------------:|:----------------:| +| 10 [rev/min²] | 0 ~ 418,352 | + +### **[Velocity Limit(72)](#velocity-limit72)** + +{% include en/dxl/y/control_table_72_velocity_limit.md %} + +| Unit | Range | Description | +|:-------------:|:---------------------:|:-----------------------------------------------------------------------------------------:| +| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | + +### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** + +{% include en/dxl/y/control_table_76_position_limit.md %} + +### **[Electronic Gear Ratio Numerator/Denominator(96, 100)](#electronic-gear-ratio-numeratordenominator96-100)** + +{% include en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md %} + +### **[Torque ON-OFF Timing Chart](#torque-on-off-timing-chart)** + +{% include en/dxl/y/control_table_torque_on_off_timing_chart.md %} + +### **[Safe Stop Time(104)](#safe-stop-time104)** + +{% include en/dxl/y/control_table_104_safe_stop_time.md %} + +### **[Brake Delay(106), Goal Update Delay(108)](#brake-delay106-goal-update-delay108)** + +{% include en/dxl/y/control_table_106_brake_delay.md %} + +### **[Overexcitation Voltage(110), Normal Excitation Voltage(111), Overexcitation Time(112)](#overexcitation-voltage110-normal-excitation-voltage111-overexcitation-time112)** + +{% include en/dxl/y/control_table_110_overexcitation_voltage.md %} + +### **[Present Velocity LPF Frequency(132)](#present-velocity-lpf-frequency132)** + +{% include en/dxl/y/control_table_132_present_velocity_lpf_frequency.md %} + +### **[Goal Current LPF Frequency(134)](#goal-current-lpf-frequency134)** + +{% include en/dxl/y/control_table_134_goal_current_lpf_frequency.md %} + +### **[Position FF LPF Time(136)](#position-ff-lpf-time136)** + +{% include en/dxl/y/control_table_136_position_ff_lpf_time.md %} + +### **[Velocity FF LPF Time(138)](#velocity-ff-lpf-time138)** + +{% include en/dxl/y/control_table_138_velocity_ff_lpf_time.md %} + +### **[Controller State(152)](#controller-state152)** + +{% include en/dxl/y/control_table_152_controller_state.md %} + +### **[Error Code(153)](#error-code153)** + +{% include en/dxl/y/control_table_153_error_code.md %} + +### **[Gain Save(170)](#gain-save170)** + +{% include en/dxl/y/control_table_170_gain_save.md %} + +### **[Velocity I Gain(212), Velocity P Gain(216), Velocity FF Gain(220)](#velocity-i-gain212-velocity-p-gain216-velocity-ff-gain220)** + +{% include en/dxl/y/control_table_212_velocity_gain.md %} + +### **[Position D Gain(224), Position I Gain(228), Position P Gain(232), Position FF Gain(236)](#position-d-gain224-position-i-gain228-position-p-gain232-position-ff-gain236)** + +{% include en/dxl/y/control_table_224_position_gain.md %} + +### **[Profile Acceleration(240), Profile Velocity(244)](#profile-acceleration240-profile-velocity244)** + +{% include en/dxl/y/control_table_240_profile_acceleration.md %} + +### **[Profile Acceleration Time(248), Profile Time(252)](#profile-acceleration-time248-profile-time252)** + +{% include en/dxl/y/control_table_248_profile_acceleration_time.md %} + +### **[Torque Enable(512)](#torque-enable512)** + +{% include en/dxl/y/control_table_512_torque_enable.md %} + +### **[LED(513)](#led513)** + +{% include en/dxl/y/control_table_513_led.md %} + +### **[PWM/Current/Velocity Offset(516, 518, 520)](#pwmcurrentvelocity-offset516-518-520)** + +{% include en/dxl/y/control_table_516_pwm_current_veloctiy_offset.md %} + +### **[Goal PWM(524)](#goal-pwm524)** + +{% include en/dxl/y/control_table_524_goal_pwm.md %} + +### **[Goal Current(526)](#goal-current526)** + +{% include en/dxl/y/control_table_526_goal_current.md %} + +### **[Goal Velocity(528)](#goal-velocity528)** + +{% include en/dxl/y/control_table_528_goal_velocity.md %} + +### **[Goal Position(532)](#goal-position532)** + +{% include en/dxl/y/control_table_532_goal_position.md %} + +### **[Moving Status(541)](#moving-status541)** + +{% include en/dxl/y/control_table_541_moving_status.md %} + +### **[Realtime Tick(542)](#realtime-tick542)** + +{% include en/dxl/y/control_table_542_realtime_tick.md %} + +### **[Present PWM(544)](#present-pwm544)** + +{% include en/dxl/y/control_table_544_present_pwm.md %} + +### **[Present Current(546)](#present-current546)** + +{% include en/dxl/y/control_table_546_present_current.md %} + +### **[Present Velocity(548)](#present-velocity548)** + +{% include en/dxl/y/control_table_548_present_velocity.md %} + +### **[Present Position(552)](#present-position552)** + +{% include en/dxl/y/control_table_552_present_position.md %} + +### **[Position Trajectory(560)](#position-trajectory560)** + +{% include en/dxl/y/control_table_560_position_trajectory.md %} + +### **[Velocity Trajectory(564)](#velocity-trajectory564)** + +{% include en/dxl/y/control_table_564_velocity_trajectory.md %} + +### **[Present Input Voltage(568)](#present-input-voltage568)** + +{% include en/dxl/y/control_table_568_present_input_voltage.md %} + +### **[Present Inverter Temperature(570)](#present-inverter-temperature570)** + +{% include en/dxl/y/control_table_570_present_inverter_temperature.md %} + +### **[Present Motor Temperature(571)](#present-motor-temperature571)** + +{% include en/dxl/y/control_table_571_present_motor_temperature.md %} + +### **[Backup Ready(919)](#backup-ready919)** + +{% include en/dxl/y/control_table_919_backup_ready.md %} + +# [How to Assemble](#how-to-assemble) + +## [Assembly Guide](#assembly-guide) + +![](/assets/images/dxl/y/ym080_r_assembly.jpg) + +# [Maintenance](#maintenance) + +# [Reference](reference) + +## [Profile](#profile) + +{% include en/dxl/y/y_profile_description.md %} + +## [Certifications](#certifications) + +Please reach out to us at contactus2@robotis.com for certifications that are not listed. + +### [FCC](#fcc) + +{% include en/dxl/fcc_class_a.md %} + +## [Connector Information](#connector-information) + +{% include en/dxl/y/connector_y080.md %} + +## [Communication Circuit](#communication-circuit) + +{% include en/dxl/y/uart_connection_y.md %} + +## [Cable Connection](#cable-connection) + +The pin configuration of the DYNAMIXEL-Y connector is shown below. + +![](/assets/images/dxl/y/80_connect_cable_1.PNG) +![](/assets/images/dxl/y/80_connect_cable_2.PNG) + +## [Drawings](#drawings) + +- `Download` [PDF]{: .blank}, [DWG]{: .blank}, [STEP]{: .blank}, [IGES]{: .blank} + +## [Moment of Inertia](#moment-of-inertia) + +TBD +. + +{% include en/dxl/download_center_notice.md %} + +# [Clear Packet](#clear-packet) + +{% include en/dxl/y/clear_packet.md %} + +# [Output Bearing](#output-bearing) + +{% include en/dxl/y/output_bearing_y.md %} + +{% include en/dxl/common_link.md %} + +[DWG]: https://www.robotis.com/service/download.php?no=2181 +[PDF]: https://www.robotis.com/service/download.php?no=2182 +[STEP]: https://www.robotis.com/service/download.php?no=2183 +[IGES]: https://www.robotis.com/service/download.php?no=2184 \ No newline at end of file From 01002259056b0acd9d2c32a218982b93452350ee Mon Sep 17 00:00:00 2001 From: ROBOTIS-Yang Date: Fri, 22 Mar 2024 11:55:47 +0900 Subject: [PATCH 2/3] fix DY typo --- _includes/en/dxl/y/control_table_153_error_code.md | 2 +- _includes/kr/dxl/y/control_table_153_error_code.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/_includes/en/dxl/y/control_table_153_error_code.md b/_includes/en/dxl/y/control_table_153_error_code.md index bfe71eb23..d6d953333 100644 --- a/_includes/en/dxl/y/control_table_153_error_code.md +++ b/_includes/en/dxl/y/control_table_153_error_code.md @@ -10,7 +10,7 @@ This represents the code for the issue occurring in the device. The list of erro | 5 | Overload Error | N | - | Y | Operating current exceeding rated current for an extended duration | | 7 | Inverter Error | N | - | N | An issue has occurred with the inverter | | 9 | Battery Warning | Y | N | N | Low Multi-Turn battery voltage. Replacement recommended | -| 10 | Batter Error | N | - | N | Multi-Turn battery voltage is too low, causing issues | +| 10 | Battery Error | N | - | N | Multi-Turn battery voltage is too low, causing issues | | 11 | Magnet Error | N | - | N | Multi-Turn position lost. Multi-Turn reset required | | 12 | Multi-Turn Error | N | - | N | An issue has occurred with the Multi-Turn IC | | 13 | Encoder Error | N | - | N | An issue has occurred with the Encoder IC | diff --git a/_includes/kr/dxl/y/control_table_153_error_code.md b/_includes/kr/dxl/y/control_table_153_error_code.md index 96a6edf91..bc50ddf46 100644 --- a/_includes/kr/dxl/y/control_table_153_error_code.md +++ b/_includes/kr/dxl/y/control_table_153_error_code.md @@ -10,7 +10,7 @@ | 5 | Overload Error | N | - | Y | 정격 전류를 초과하는 전류를 장시간 사용 | | 7 | Inverter Error | N | - | N | Inverter에 문제가 발생함 | | 9 | Battery Warning | Y | N | N | Multi-Turn 배터리 전압이 낮음. 교체 권장 | -| 10 | Batter Error | N | - | N | Multi-Turn 배터리 전압이 너무 낮아 문제 발생 | +| 10 | Battery Error | N | - | N | Multi-Turn 배터리 전압이 너무 낮아 문제 발생 | | 11 | Magnet Error | N | - | N | Multi-Turn 위치를 잃어버림. Multi-Turn Clear 필요 | | 12 | Multi-Turn Error | N | - | N | Multi-Turn IC에 문제가 발생함 | | 13 | Encoder Error | N | - | N | Encoder IC에 문제가 발생함 | From 80ac351972745b594b1a0480a918875a43ba90c9 Mon Sep 17 00:00:00 2001 From: ROBOTIS-Yang Date: Fri, 22 Mar 2024 13:33:15 +0900 Subject: [PATCH 3/3] Fix DY en --- _data/navigation.yml | 8 ++++---- _includes/en/dxl/y/control_table_12_baud_rate.md | 2 +- _includes/en/dxl/y/control_table_153_error_code.md | 4 ++-- _includes/en/dxl/y/control_table_170_gain_save.md | 10 +++++----- _includes/en/dxl/y/control_table_33_operating_mode.md | 10 +++++----- .../dxl/y/control_table_38_position_limit_threshold.md | 2 +- _includes/en/dxl/y/control_table_541_moving_status.md | 2 +- _includes/en/dxl/y/control_table_60_voltage_limit.md | 2 +- _includes/en/dxl/y/control_table_64_pwm_limit.md | 2 +- _includes/en/dxl/y/first_warning.md | 2 +- _includes/en/dxl/y/y_profile_description.md | 4 ++-- 11 files changed, 24 insertions(+), 24 deletions(-) diff --git a/_data/navigation.yml b/_data/navigation.yml index ab3228a2a..b50051b7f 100644 --- a/_data/navigation.yml +++ b/_data/navigation.yml @@ -19184,7 +19184,7 @@ ym070-210-r051-rh: children: - title: "Output Bearing Specifications (L10=7,000hours@rated output speed)" titlekr: "출력 베어링 사양 (L10=7,000hours@rated output speed)" - url: /dxl/y/ym070-210-r051-rh/output-bearing-specifications-l107000hoursrated-output-speed + url: /dxl/y/ym070-210-r051-rh/#output-bearing-specifications-l107000hoursrated-output-speed urlkr: /dxl/y/ym070-210-r051-rh/#출력-베어링-사양-l107000hoursrated-output-speed - title: "Bearing Life" titlekr: "베어링 수명" @@ -19512,7 +19512,7 @@ ym070-210-r099-rh: children: - title: "Output Bearing Specifications (L10=7,000hours@rated output speed)" titlekr: "출력 베어링 사양 (L10=7,000hours@rated output speed)" - url: /dxl/y/ym070-210-r099-rh/output-bearing-specifications-l107000hoursrated-output-speed + url: /dxl/y/ym070-210-r099-rh/#output-bearing-specifications-l107000hoursrated-output-speed urlkr: /dxl/y/ym070-210-r099-rh/#출력-베어링-사양-l107000hoursrated-output-speed - title: "Bearing Life" titlekr: "베어링 수명" @@ -20139,7 +20139,7 @@ ym080-230-r051-rh: children: - title: "Output Bearing Specifications (L10=7,000hours@rated output speed)" titlekr: "출력 베어링 사양 (L10=7,000hours@rated output speed)" - url: /dxl/y/ym080-230-r051-rh/output-bearing-specifications-l107000hoursrated-output-speed + url: /dxl/y/ym080-230-r051-rh/#output-bearing-specifications-l107000hoursrated-output-speed urlkr: /dxl/y/ym080-230-r051-rh/#출력-베어링-사양-l107000hoursrated-output-speed - title: "Bearing Life" titlekr: "베어링 수명" @@ -20467,7 +20467,7 @@ ym080-230-r099-rh: children: - title: "Output Bearing Specifications (L10=7,000hours@rated output speed)" titlekr: "출력 베어링 사양 (L10=7,000hours@rated output speed)" - url: /dxl/y/ym080-230-r099-rh/output-bearing-specifications-l107000hoursrated-output-speed + url: /dxl/y/ym080-230-r099-rh/#output-bearing-specifications-l107000hoursrated-output-speed urlkr: /dxl/y/ym080-230-r099-rh/#출력-베어링-사양-l107000hoursrated-output-speed - title: "Bearing Life" titlekr: "베어링 수명" diff --git a/_includes/en/dxl/y/control_table_12_baud_rate.md b/_includes/en/dxl/y/control_table_12_baud_rate.md index 3683e22bf..10a0b0f92 100644 --- a/_includes/en/dxl/y/control_table_12_baud_rate.md +++ b/_includes/en/dxl/y/control_table_12_baud_rate.md @@ -1,4 +1,4 @@ -제어기와 RS485통신하기 위한 통신 속도 입니다. +The communication speed for communication between the controller and servo over the RS485 serial bus is called the "Baud Rate." | Value | Baud Rate
[bps] | Actual Baud Rate
[bps] | Error Rate
[%] | |:---------------:|:---------------------:|:-------------------------:|:------------------:| diff --git a/_includes/en/dxl/y/control_table_153_error_code.md b/_includes/en/dxl/y/control_table_153_error_code.md index d6d953333..53197d139 100644 --- a/_includes/en/dxl/y/control_table_153_error_code.md +++ b/_includes/en/dxl/y/control_table_153_error_code.md @@ -3,8 +3,8 @@ This represents the code for the issue occurring in the device. The list of erro | Value | Label | Torque ON | *Hold | Error Clear | Description | |:-----:|:----------------------------:|:---------:|:-----:|:-----------:|:---------------------------------------------------------------------------| | 0 | No Error | - | - | - | No error | -| 1 | Over Voltage Error | N | - | Y | Device supply voltage exceeds the Max [Voltage Limit(60)] | -| 2 | Low Voltage Error | N | - | Y | Device supply voltage exceeds the Min [Voltage Limit(62)] | +| 1 | Over Voltage Error | N | - | Y | Device supply voltage exceeds the [Max Voltage Limit(60)] | +| 2 | Low Voltage Error | N | - | Y | Device supply voltage exceeds the [Min Voltage Limit(62)] | | 3 | Inverter Overheating Error | N | - | Y | The inverter temperature has exceeded the [Inverter Temperature Limit(56)] | | 4 | Motor Overheating Error | N | - | Y | The motor temperature has exceeded the [Motor Temperature Limit(57)]. | | 5 | Overload Error | N | - | Y | Operating current exceeding rated current for an extended duration | diff --git a/_includes/en/dxl/y/control_table_170_gain_save.md b/_includes/en/dxl/y/control_table_170_gain_save.md index 64a4c9711..679982f4d 100644 --- a/_includes/en/dxl/y/control_table_170_gain_save.md +++ b/_includes/en/dxl/y/control_table_170_gain_save.md @@ -1,11 +1,11 @@ You can verify whether the Hybrid area has been modified, save requests, and confirm saving completion. If you enter '1' in this field, the value of the Hybrid area will be saved. -| Value | Label | Description | -| :---: | :----------------: | :----------------------------------------------------------------------------------------------------| -| 0 | Changed | There are unsaved values in the Hybrid area. | -| 1 | Save Request | Request to save values in the Hybrid area. “1” can be used when the Torque Enable(512) value is ‘0’. | -| 2 | Saved | The values in the Hybrid area have been saved. | +| Value | Label | Description | +| :---: | :----------------: | :------------------------------------------------------------------------------------------------------| +| 0 | Changed | There are unsaved values in the Hybrid area. | +| 1 | Save Request | Request to save values in the Hybrid area. “1” can be used when the [Torque Enable(512)] value is ‘0’. | +| 2 | Saved | The values in the Hybrid area have been saved. | **Note** : If the value of Gain Save (514) is '0', changes will not be saved if the device is rebooted or power is disconnected. diff --git a/_includes/en/dxl/y/control_table_33_operating_mode.md b/_includes/en/dxl/y/control_table_33_operating_mode.md index f280ed9a8..ca972759c 100644 --- a/_includes/en/dxl/y/control_table_33_operating_mode.md +++ b/_includes/en/dxl/y/control_table_33_operating_mode.md @@ -1,10 +1,10 @@ Control mode can be set. DYNAMIXEL-Y supports three control modes. -| Value | Operating Mode | Description | -|:-----------|:----------------------|:------------------------------------------------------------------------------------------------------------------------------------| -| 0 | Current Control Mode | Controls current. Does not control velocity and position. | -| 1 | Velocity Control Mode | Controls velocity and current. Does not control position. | -| 3(Default) | Position Control Mode | Controls position, velocity, and current.
Operates within the range defined by Max Position Limit(76) to Min Position Limit(84). | +| Value | Operating Mode | Description | +|:-----------|:----------------------|:----------------------------------------------------------------------------------------------------------------------------------------| +| 0 | Current Control Mode | Controls current. Does not control velocity and position. | +| 1 | Velocity Control Mode | Controls velocity and current. Does not control position. | +| 3(Default) | Position Control Mode | Controls position, velocity, and current.
Operates within the range defined by Max [Position Limit(76)] to Min [Position Limit(84)]. | The control block diagram for each control mode is as follows: diff --git a/_includes/en/dxl/y/control_table_38_position_limit_threshold.md b/_includes/en/dxl/y/control_table_38_position_limit_threshold.md index c2a9a9af4..96c4db68b 100644 --- a/_includes/en/dxl/y/control_table_38_position_limit_threshold.md +++ b/_includes/en/dxl/y/control_table_38_position_limit_threshold.md @@ -1,4 +1,4 @@ -The threshold for determining the Position Limit Reached Error. If the value of the [Present Position(552)] is outside the range of ([Max Position Limit(76)] + Position Limit Threshold (38)) ~ ([Min Position Limit (84)] - Position Limit Threshold (38)), a Position Limit Reached Error occurs. +The threshold for determining the Position Limit Reached Error. If the value of the [Present Position(552)] is outside the range of ([Max Position Limit(76)] + Position Limit Threshold(38)) ~ ([Min Position Limit(84)] - Position Limit Threshold(38)), a Position Limit Reached Error occurs. | Unit | Range | |:---------:|:----------:| diff --git a/_includes/en/dxl/y/control_table_541_moving_status.md b/_includes/en/dxl/y/control_table_541_moving_status.md index f574dbd1c..e387470fb 100644 --- a/_includes/en/dxl/y/control_table_541_moving_status.md +++ b/_includes/en/dxl/y/control_table_541_moving_status.md @@ -5,7 +5,7 @@ Provides additional information about movement. The In-Position Bit(0x01) is onl | Bit 7 (0x80) | - | Unused, always ‘0’ ‘0’ | | Bit 6 (0x40) | Position In Range | Whether the current position is within the range of [Min Position limit(84)] ~ [Max position limit(76)]
0 : Out of the Limit Range
1 : Within the Limit Range | | Bit 5 (0x40)

Bit 4 (0x40) | Profile type(H)

Profile type(L) | The current profile type in use
11 : Trapezoidal profile
10 : Triangular profile
01 : Rectangular profile
00 : Profile unused (Step) | -| Bit 3 (0x08) | Following error | Whether or not the [Position Trajectory(532)] is being followed
0 : Follow
1 : Following error | +| Bit 3 (0x08) | Following error | Whether or not the [Position Trajectory(560)] is being followed
0 : Follow
1 : Following error | | Bit 2 (0x04) | Moving | Whether the device is rotating
0 : Standby status
1 : Movement detected | | Bit 1 (0x02) | Profile ongoing | Whether the profile is in progress according to the [Goal Position(532)] command
0 : Profile complete
1 : Profile in progress | | Bit 0 (0x01) | In-Position | Whether the [Goal Position(532)] has been reached
0 : Not reached
1 : Reached | diff --git a/_includes/en/dxl/y/control_table_60_voltage_limit.md b/_includes/en/dxl/y/control_table_60_voltage_limit.md index e931a9ca3..a6b2aa75b 100644 --- a/_includes/en/dxl/y/control_table_60_voltage_limit.md +++ b/_includes/en/dxl/y/control_table_60_voltage_limit.md @@ -1,5 +1,5 @@ These are the upper and lower limits of the operating voltage. -If the Present [Input Voltage(568)] indicating the currently applied voltage goes beyond the range of Max Voltage Limit (60) or Min Voltage Limit (62), an error occurs. In such cases, the values in the control table are changed as shown in the table below, and the device comes to a stop. Since an error has occurred in the device, the Status Packet transmits an Alert Bit (0x80) through the Error field. +If the [Present Input Voltage(568)] indicating the currently applied voltage goes beyond the range of Max Voltage Limit(60) or Min Voltage Limit(62), an error occurs. In such cases, the values in the control table are changed as shown in the table below, and the device comes to a stop. Since an error has occurred in the device, the Status Packet transmits an Alert Bit (0x80) through the Error field. | Address | Label | Value Change | Description | diff --git a/_includes/en/dxl/y/control_table_64_pwm_limit.md b/_includes/en/dxl/y/control_table_64_pwm_limit.md index 04d589049..8aad9bf58 100644 --- a/_includes/en/dxl/y/control_table_64_pwm_limit.md +++ b/_includes/en/dxl/y/control_table_64_pwm_limit.md @@ -1,4 +1,4 @@ -This is the limit value of output PWM. A value greater than the PWM Limit (64) cannot be input in [Goal PWM(524)]. The PWM Limit (64) is a common output limit value applied to all control modes, and reducing the PWM output will decrease both the torque and speed of the device. For more details, please refer to the Gain section of the respective control mode. +This is the limit value of output PWM. A value greater than the PWM Limit (64) cannot be input in [Goal PWM(524)]. The PWM Limit(64) is a common output limit value applied to all control modes, and reducing the PWM output will decrease both the torque and speed of the device. For more details, please refer to the Gain section of the respective control mode. | Unit | Range | Description | | :-----: | :-------: | :-------------------------------------------------------------: | diff --git a/_includes/en/dxl/y/first_warning.md b/_includes/en/dxl/y/first_warning.md index 12e9f9851..ad67e36f3 100644 --- a/_includes/en/dxl/y/first_warning.md +++ b/_includes/en/dxl/y/first_warning.md @@ -1,7 +1,7 @@ For initial use, please refer to [Multi-Turn Backup Battery Replacement] to install and initialize the Multi-Turn Backup Battery. {: .notice--warning} -If an error occurs, please refer to [Error Code (153)] for information on the type of error and instructions on how to clear it +If an error occurs, please refer to [Error Code(153)] for information on the type of error and instructions on how to clear it {: .notice--warning} [Multi-Turn Backup Battery Replacement]: #multi-turn-backup-battery-replacement \ No newline at end of file diff --git a/_includes/en/dxl/y/y_profile_description.md b/_includes/en/dxl/y/y_profile_description.md index 83942adf6..31578454d 100644 --- a/_includes/en/dxl/y/y_profile_description.md +++ b/_includes/en/dxl/y/y_profile_description.md @@ -34,8 +34,8 @@ The following outlines the profile operation process for the [Goal Position(532) The Velocity Override function operates in a similar manner. The acceleration time (t1) in this case is as follows. -**Velocity-based Profile: t1 = 600 * {Profile Velocity(240) / Profile Acceleration(244)} [ms]** -**Time-based Profile: t1 = Profile Acceleration Time(252) [ms]** +**Velocity-based Profile : t1 = 64 * {[Profile Velocity(112)](#profile-velocity112) / [Profile Acceleration(108)](#profile-acceleration108)}** +**Time-based Profile : t1 = [Profile Acceleration(108)](#profile-acceleration108)** {% endcapture %}