Merge pull request #1664 from ROBOTIS-Yang/Dynamixel-Y

Dynamixel y
ROBOTIS-GIT · Apr 2, 2024 · d367f10 · d367f10
2 parents 6634fd4 + bb88ded
commit d367f10
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diff --git a/Gemfile.lock b/Gemfile.lock
@@ -1,40 +1,48 @@
 GEM
   remote: https://rubygems.org/
   specs:
-    activesupport (6.0.6.1)
+    activesupport (7.1.3.2)
+      base64
+      bigdecimal
       concurrent-ruby (~> 1.0, >= 1.0.2)
-      i18n (>= 0.7, < 2)
-      minitest (~> 5.1)
-      tzinfo (~> 1.1)
-      zeitwerk (~> 2.2, >= 2.2.2)
-    addressable (2.8.0)
-      public_suffix (>= 2.0.2, < 5.0)
+      connection_pool (>= 2.2.5)
+      drb
+      i18n (>= 1.6, < 2)
+      minitest (>= 5.1)
+      mutex_m
+      tzinfo (~> 2.0)
+    addressable (2.8.6)
+      public_suffix (>= 2.0.2, < 6.0)
+    base64 (0.2.0)
+    bigdecimal (3.1.6)
     colorator (1.1.0)
-    concurrent-ruby (1.2.0)
+    concurrent-ruby (1.2.3)
+    connection_pool (2.4.1)
+    drb (2.2.1)
     em-websocket (0.5.3)
       eventmachine (>= 0.12.9)
       http_parser.rb (~> 0)
     eventmachine (1.2.7)
     eventmachine (1.2.7-x64-mingw32)
-    faraday (2.3.0)
-      faraday-net_http (~> 2.0)
-      ruby2_keywords (>= 0.0.4)
-    faraday-net_http (2.0.3)
-    ffi (1.15.5)
-    ffi (1.15.5-x64-mingw32)
+    faraday (2.9.0)
+      faraday-net_http (>= 2.0, < 3.2)
+    faraday-net_http (3.1.0)
+      net-http
+    ffi (1.16.3)
+    ffi (1.16.3-x64-mingw-ucrt)
     forwardable-extended (2.6.0)
-    gemoji (3.0.1)
-    html-pipeline (2.14.2)
+    gemoji (4.1.0)
+    html-pipeline (2.14.3)
       activesupport (>= 2)
       nokogiri (>= 1.4)
     http_parser.rb (0.8.0)
-    i18n (0.9.5)
+    i18n (1.14.4)
       concurrent-ruby (~> 1.0)
-    jekyll (3.9.2)
+    jekyll (3.9.5)
       addressable (~> 2.4)
       colorator (~> 1.0)
       em-websocket (~> 0.5)
-      i18n (~> 0.7)
+      i18n (>= 0.7, < 2)
       jekyll-sass-converter (~> 1.0)
       jekyll-watch (~> 2.0)
       kramdown (>= 1.17, < 3)
@@ -43,7 +51,7 @@ GEM
       pathutil (~> 0.9)
       rouge (>= 1.7, < 4)
       safe_yaml (~> 1.0)
-    jekyll-feed (0.16.0)
+    jekyll-feed (0.17.0)
       jekyll (>= 3.7, < 5.0)
     jekyll-gist (1.5.0)
       octokit (~> 4.2)
@@ -59,16 +67,16 @@ GEM
       jekyll (>= 3.7, < 5.0)
     jekyll-watch (2.2.1)
       listen (~> 3.0)
-    jemoji (0.12.0)
-      gemoji (~> 3.0)
+    jemoji (0.13.0)
+      gemoji (>= 3, < 5)
       html-pipeline (~> 2.2)
       jekyll (>= 3.0, < 5.0)
     kramdown (2.4.0)
       rexml
     kramdown-parser-gfm (1.1.0)
       kramdown (~> 2.0)
-    liquid (4.0.3)
-    listen (3.7.1)
+    liquid (4.0.4)
+    listen (3.9.0)
       rb-fsevent (~> 0.10, >= 0.10.3)
       rb-inotify (~> 0.9, >= 0.9.10)
     mercenary (0.3.6)
@@ -80,23 +88,29 @@ GEM
       jekyll-include-cache (~> 0.1)
       jekyll-paginate (~> 1.1)
       jekyll-sitemap (~> 1.3)
-    minitest (5.17.0)
+    minitest (5.22.2)
+    mutex_m (0.2.0)
+    net-http (0.4.1)
+      uri
     nokogiri (1.16.2)
       mini_portile2 (~> 2.8.2)
       racc (~> 1.4)
+    nokogiri (1.16.2-x64-mingw-ucrt)
+      racc (~> 1.4)
+    nokogiri (1.16.2-x86_64-linux)
+      racc (~> 1.4)
     octokit (4.25.1)
       faraday (>= 1, < 3)
       sawyer (~> 0.9)
     pathutil (0.16.2)
       forwardable-extended (~> 2.6)
-    public_suffix (4.0.7)
+    public_suffix (5.0.4)
     racc (1.7.3)
-    rb-fsevent (0.11.1)
+    rb-fsevent (0.11.2)
     rb-inotify (0.10.1)
       ffi (~> 1.0)
-    rexml (3.2.5)
-    rouge (3.29.0)
-    ruby2_keywords (0.0.5)
+    rexml (3.2.6)
+    rouge (3.30.0)
     safe_yaml (1.0.5)
     sass (3.7.4)
       sass-listen (~> 4.0.0)
@@ -106,14 +120,14 @@ GEM
     sawyer (0.9.2)
       addressable (>= 2.3.5)
       faraday (>= 0.17.3, < 3)
-    thread_safe (0.3.6)
-    tzinfo (1.2.11)
-      thread_safe (~> 0.1)
+    tzinfo (2.0.6)
+      concurrent-ruby (~> 1.0)
+    uri (0.13.0)
     webrick (1.8.1)
-    zeitwerk (2.6.6)
 
 PLATFORMS
   ruby
+  x64-mingw-ucrt
   x64-mingw32
   x86_64-linux
 
@@ -132,4 +146,4 @@ DEPENDENCIES
   webrick
 
 BUNDLED WITH
-   2.3.7
+   2.5.6
diff --git a/_data/dxl_y_info.yml b/_data/dxl_y_info.yml
@@ -30,8 +30,8 @@ ym070-210-m001-rh:
   encoderspec:        *encoderspec
   gearratio:          "-"
   backlash:           "-"
-  radialload:         "42 [N] (출력부 베어링 참조)"
-  radialload_en:      "42 [N] (see the output bearing section)"
+  radialload:         "42 [N] [(출력부 베어링 참조)](#출력-베어링)"
+  radialload_en:      "42 [N] [(see the output bearing section)](#output-bearing)"
   noloadspeed:        "5,675 [rev/min]"
   contspeed:          "4,664 [rev/min]"
   conttorque:         "0.32 [N.m]"
@@ -60,8 +60,8 @@ ym070-210-r051-rh:
   encoderspec:        *encoderspec
   gearratio:          "51:1"
   backlash:           *backlash
-  radialload:         "1,240 [N] (출력부 베어링 참조)"
-  radialload_en:      "1,240 [N] (see the output bearing section)"
+  radialload:         "1,240 [N] [(출력부 베어링 참조)](#출력-베어링)"
+  radialload_en:      "1,240 [N] [(see the output bearing section)](#output-bearing)"
   noloadspeed:        "111.3 [rev/min]"
   contspeed:          "39.2 [rev/min]"
   conttorque:         "8.2 [N.m]"
@@ -90,8 +90,8 @@ ym070-210-r099-rh:
   encoderspec:        *encoderspec
   gearratio:          "99:1"
   backlash:           *backlash
-  radialload:         "1,520 [N] (출력부 베어링 참조)"
-  radialload_en:      "1,520 [N] (see the output bearing section)"
+  radialload:         "1,520 [N] [(출력부 베어링 참조)](#출력-베어링)"
+  radialload_en:      "1,520 [N] [(see the output bearing section)](#output-bearing)"
   noloadspeed:        "57.3 [rev/min]"
   contspeed:          "20.2 [rev/min]"
   conttorque:         "14.6 [N.m]"
@@ -120,8 +120,8 @@ ym080-230-m001-rh:
   encoderspec:        *encoderspec
   gearratio:          "-"
   backlash:           "-"
-  radialload:         "52 [N] (출력부 베어링 참조)"
-  radialload_en:      "52 [N] (see the output bearing section)"
+  radialload:         "52 [N] [(출력부 베어링 참조)](#출력-베어링)"
+  radialload_en:      "52 [N] [(see the output bearing section)](#output-bearing)"
   noloadspeed:        "3,190 [rev/min]"
   contspeed:          "2,597 [rev/min]"
   conttorque:         "0.62 [N.m]"
@@ -150,8 +150,8 @@ ym080-230-r051-rh:
   encoderspec:        *encoderspec
   gearratio:          "51:1"
   backlash:           *backlash
-  radialload:         "1,570 [N] (see the output bearing section)"
-  radialload_en:      "1,570 [N] (출력부 베어링 참조)"
+  radialload:         "1,570 [N] [(출력부 베어링 참조)](#출력-베어링)"
+  radialload_en:      "1,570 [N] [(see the output bearing section)](#output-bearing)"
   noloadspeed:        "62.5 [rev/min]"
   contspeed:          "39.2 [rev/min]"
   conttorque:         "15.8 [N.m]"
@@ -180,8 +180,8 @@ ym080-230-r099-rh:
   encoderspec:        *encoderspec
   gearratio:          "99:1"
   backlash:           *backlash
-  radialload:         "1,920 [N] (출력부 베어링 참조)"
-  radialload_en:      "1,920 [N] (see the output bearing section)"
+  radialload:         "1,920 [N] [(출력부 베어링 참조)](#출력-베어링)"
+  radialload_en:      "1,920 [N] [(see the output bearing section)](#output-bearing)"
   noloadspeed:        "32.2 [rev/min]"
   contspeed:          "20.2 [rev/min]"
   conttorque:         "26.0 [N.m]"

diff --git a/_includes/en/dxl/y/output_bearing_y_r.md b/_includes/en/dxl/y/output_bearing_y_r.md
@@ -12,7 +12,7 @@
 {% capture output_bearing_notice1 %}  
 **note :**  
 1&#41; Allowable dynamic equivalent load (Pc_max)  must not exceed this value   
-2&#41; Allowable moment load, Ma is Lr+df=0 and La=0
+2&#41; Allowable moment load, M_max is Lr+df=0 and La=0
 {% endcapture %}
 
 <div class="notice">{{ output_bearing_notice1 | markdownify }}</div>

diff --git a/_includes/en/dxl/y/specifications_y.md b/_includes/en/dxl/y/specifications_y.md
@@ -12,7 +12,7 @@
 | 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 }}           |
+| Radial Load                    | {{ site.data.dxl_y_info[page.ref].radialload_en }}        |
 | 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 }}           |

diff --git a/_includes/kr/dxl/y/output_bearing_y_r.md b/_includes/kr/dxl/y/output_bearing_y_r.md
@@ -13,7 +13,7 @@
 {% capture output_bearing_notice1 %}  
 **참고 :**  
 1&#41; 허용 동등가 하중값 (Pc_max)을 초과하여 사용하지 마십시오.  
-2&#41; 허용모멘트 하중, Ma는 Lr+df=0, La=0 입니다.
+2&#41; 허용모멘트 하중, M_max는 Lr+df=0, La=0 입니다.
 {% endcapture %}
 
 <div class="notice">{{ output_bearing_notice1 | markdownify }}</div>

diff --git a/assets/images/dxl/y/bearing_formula/m_1.png b/assets/images/dxl/y/bearing_formula/m_1.png
diff --git a/assets/images/dxl/y/bearing_formula/m_2.png b/assets/images/dxl/y/bearing_formula/m_2.png
diff --git a/assets/images/dxl/y/bearing_formula/m_4.png b/assets/images/dxl/y/bearing_formula/m_4.png