Merge pull request #1708 from ROBOTIS-Yang/Dynamixel-Y

Update DY modbus_en

_data/navigation.yml

@@ -19064,7 +19064,7 @@ ym070-210-m001-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym070-210-m001-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym070-210-m001-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"
@@ -19397,7 +19397,7 @@ ym070-210-b001-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym070-210-b001-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym070-210-b001-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"
@@ -19730,7 +19730,7 @@ ym070-210-r051-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym070-210-r051-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym070-210-r051-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"
@@ -20067,7 +20067,7 @@ ym070-210-r099-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym070-210-r099-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym070-210-r099-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"
@@ -20404,7 +20404,7 @@ ym070-210-a051-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym070-210-a051-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym070-210-a051-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"
@@ -20741,7 +20741,7 @@ ym070-210-a099-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym070-210-a099-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym070-210-a099-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"
@@ -21078,7 +21078,7 @@ ym080-230-m001-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym080-230-m001-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym080-230-m001-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"
@@ -21411,7 +21411,7 @@ ym080-230-b001-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym080-230-b001-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym080-230-b001-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"
@@ -21744,7 +21744,7 @@ ym080-230-r051-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym080-230-r051-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym080-230-r051-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"
@@ -22081,7 +22081,7 @@ ym080-230-r099-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym080-230-r099-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym080-230-r099-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"
@@ -22418,7 +22418,7 @@ ym080-230-a051-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym080-230-a051-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym080-230-a051-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"
@@ -22755,7 +22755,7 @@ ym080-230-a099-rh:
           - title: "Backup Ready(919)"
             titlekr: "Backup Ready(919)"
             url: /dxl/y/ym080-230-a099-rh/#backup-ready919
-          - #title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
+          - title: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             titlekr: "Factory Reset, Reboot, Clear Instruction (Modbus)"
             url: /dxl/y/ym080-230-a099-rh/#factory-reset-reboot-clear-instruction-modbus
   - title: "How to Assemble"

_includes/en/dxl/warning.md

@@ -39,7 +39,10 @@
 ![](/assets/images/icon_warning.png)  
 **CAUTION**  
 (May cause injury or damage to product)
-{% if page.product_group=='dxl_xw540' or page.product_group=='dxl_xw430' %} - Comply with the operating environment. (Depth 1 m, 24 hr in normal fresh water) {% elsif page.product_group=='opencm904' or page.product_group=='ln-101' or page.product_group=='u2d2' or page.product_group=='u2d2_power_hub' or page.product_group=='dynamixel_shield' or page.product_group=='cm-50' or page.product_group=='openrb-150' or page.product_group=='opencm485exp' %} {% else %} - Always comply with operating environment specifications including voltage, current, and temperature. {% endif %}
+{% if page.product_group=='dxl_xw540' or page.product_group=='dxl_xw430' %} - Comply with the operating environment. (Depth 1 m, 24 hr in normal fresh water) 
+- Do not pull the rubber cap of the connector. 
+- The rubber cap is connected to the rubber packing, and any deformation may cause leakage.
+- the rubber cap is designed for dust protection and is not waterproof. When using underwater, please connect a waterproof cable.{% elsif page.product_group=='opencm904' or page.product_group=='ln-101' or page.product_group=='u2d2' or page.product_group=='u2d2_power_hub' or page.product_group=='dynamixel_shield' or page.product_group=='cm-50' or page.product_group=='openrb-150' or page.product_group=='opencm485exp' %} {% else %} - Always comply with operating environment specifications including voltage, current, and temperature. {% endif %}
 - Do not insert blades or other sharp objects during product operation.
 {% endcapture %}
 <div class="notice--warning">{{ dxl_caution | markdownify }}</div>

_includes/en/dxl/y/clear_packet.md

@@ -44,7 +44,7 @@ DYNAMIXEL-Y features an internal Multi-turn Backup Battery for Multi-turn Positi
    Tools → Encoder Battery Replacement menu. 
 3. In the case of a model with an included reducer, ensure that the reducer is positioned at it's origin point. (Position 0)
 4. Open the battery cover, install the new Multi-turn Backup Battery, close the cover, and click the Next button.
-5. Wait for the operation to complete. 
+5. Set the multi-turn encoder mode. Note that a higher allowable angular acceleration will decrease battery life. Please set an appropriate value for your system.
 6. Once finished, exit the menu by clicking the OK button.
 7. Reset the Multi-turn to its initial state by sending the [Multi-turn Clear Packet](#multi-turn-clear-packet).
 

_includes/en/dxl/y/connector_y070.md

@@ -9,4 +9,10 @@
 | 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}
+{: .notice--warning}
+
+**Note**: DYNAMIXEL-Y uses a new connector to enhance the utility of its hollow structure and ensure stable current supply and communication. The JST connector used in existing DYNAMIXEL models cannot reliably supply the current required to operate DYNAMIXEL-Y. Therefore, it is essential to use the designated connector.
+{: .notice}
+
+**Note**: If communication between DYNAMIXEL-Y and U2D2 is unstable, please connect the GND of the power line to the GND of the U2D2.
+{: .notice}

_includes/en/dxl/y/connector_y080.md

@@ -10,3 +10,9 @@
 
 **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}
+
+**Note**: DYNAMIXEL-Y uses a new connector to enhance the utility of its hollow structure and ensure stable current supply and communication. The JST connector used in existing DYNAMIXEL models cannot reliably supply the current required to operate DYNAMIXEL-Y. Therefore, it is essential to use the designated connector.
+{: .notice}
+
+**Note**: If communication between DYNAMIXEL-Y and U2D2 is unstable, please connect the GND of the power line to the GND of the U2D2.
+{: .notice}

_includes/en/dxl/y/control_table_0_model_number.md

@@ -1 +1,7 @@
-The model number of the DYNAMIXEL actuator.
+The model number of DYNAMIXEL indicates the protocol type. If the last digit of the model number is 0, it supports the DYNAMIXEL Protocol 2.0. If it is 1, it supports the Modbus Protocol. The protocol can be changed by [firmware recovery](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/#firmware-recovery) to the corresponding protocol via the DYNAMIXEL Wizard 2.0 software. The following example demonstrates the model number and protocol information for the YM070-210-M001-RH model.
+
+***Example)***  
+
+|       Model       | Model Number | Description                                     |
+| :---------------: | :----------: | :---------------------------------------------- |
+| YM070-210-M001-RH | 4000<br>4001 | Dynamixel Protocol 2.0 FW<br>Modbus Protocol FW |

_includes/en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md

@@ -18,5 +18,5 @@ Re: Electronic Gear Ratio   R: Actual Gear Ratio  L: Ball Screw Lead
 | System Form                        | Setting Unit  | Description                             |
 |:----------------------------------:|:-------------:|:----------------------------------------|
 | Direct Drive System                | 0.01 [deg]    | DYNAMIXEL-Y Resolution: 524,288 [pulse/rev]<br />![](/assets/images/dxl/y/dy_equation_2.jpg)  |
-| Gearbox Attachment<br />R = 100:1  | 0.01 [deg]    | DYNAMIXEL-Y Resolution: 524,288 [pulse/rev]<br />![](/assets/images/dxl/y/dy_equation_2.jpg)  |
-| Ball Screw System<br />L: 10mm/rev | 0.01 [mm]     | DYNAMIXEL-Y Resolution: 524,288<br /><br />![](/assets/images/dxl/y/dy_equation_3.jpg)        |
+| Gearbox Attachment<br />R = 100:1  | 0.01 [deg]    | DYNAMIXEL-Y Resolution: 524,288 [pulse/rev]<br />![](/assets/images/dxl/y/dy_equation_3.jpg)  |
+| Ball Screw System<br />L: 10mm/rev | 0.01 [mm]     | DYNAMIXEL-Y Pulse per 1Rev = 524,288<br />Resolution of DYNAMIXEL-Y: 524,288 [pulse/rev]<br />![](/assets/images/dxl/y/dy_equation_4.jpg)        |

_includes/en/dxl/y/factory_reset_reboot_clear_instruction.md

@@ -0,0 +1,9 @@
+This section pertains to the commands for requesting Factory Reset, Reboot, and Clear functions within a Modbus Protocol firmware.  
+These commands are not supported by the standard firmware. Below is a detailed explanation of each command, including its value range and description.
+
+
+| Modbus Address |           Name            | Value range, descirption                                                                   |
+| :------------: | :-----------------------: | :----------------------------------------------------------------------------------------- |
+|     41001      | Factory Reset Instruction | 0x00FF (255): Initialize all values<br>0x0001 (1): Initialize all values except for the ID |
+|     41002      |    Reboot Instruction     | Writing any value will cause a reboot                                                      |
+|     41003      |     Clear Instruction     | 0x0100 (256): MT Initialization<br>0x0200 (512): Error Clear                               |

_includes/en/dxl/y/y_warning.md

@@ -45,6 +45,17 @@
 {% endcapture %}
 <div class="notice--warning">{{ dxl_caution | markdownify }}</div>
 
+{% capture dxl_caution %}  
+![](/assets/images/icon_warning.png)  
+**Warning**  
+(May cause injury or damage to the product.)
+- Due to the material properties, rust may occur depending on the user environment.
+- Repairs due to rust may incur costs, so please refer to the following guidelines to prevent rust.
+- Please take steps to reduce humidity and improve ventilation.
+- Salt removal and anti-corrosion treatment should be performed on a regular basis.
+{% endcapture %}
+<div class="notice--warning">{{ dxl_caution | markdownify }}</div>
+
 {% capture guarantee %}
 **Warranty Coverage**
 - This product is covered under warranty for 1 year after the purchase date for usage under normal operating conditions.

_includes/kr/dxl/y/clear_packet.md

@@ -46,7 +46,7 @@ DYNAMIXEL-Y는 Multi-turn Backup을 위해 배터리가 내장되어 있습니
 3. 감속기 모델인 경우는 원점 위치가 일치하는지 확인하고 다음 버튼을 클릭합니다.  
     (원점위치가 아닌 경우, 원점 위치로 맞춰주세요.)
 4. 배터리 커버를 열어서 새 배터리로 교체하고, 커버를 닫고 다음 버튼을 클릭합니다.
-5. 작업 진행을 기다립니다.
+5. 멀티턴 엔코더 모드를 설정합니다. 허용 각가속도가 커질수록 배터리 수명이 감소합니다. 시스템에 맞는 적절한 값으로 설정하시기 바랍니다.
 6. 작업이 완료되고 확인 버튼을 클릭하여 메뉴를 끝냅니다.
 7. [Multi-turn Clear Packet](#multi-turn-clear-packet)을 통하여 Multi-turn을 초기화 시켜줍니다.
 

_includes/kr/dxl/y/control_table_96_electronic_gear_ratio_numerator.md

@@ -14,5 +14,5 @@ Re: 전자 기어비 R: 실제 기어비 L: 볼스크류 리드
 | 시스템 형태                      | 설정 단위    | 설명                             |
 |:-------------------------------:|:-----------:|:--------------------------------|
 | Direct Drive 시스템              | 0.01 [deg] | Dynamixel-Y의 분해능: 524,288 [pulse/rev]<br />![](/assets/images/dxl/y/dy_equation_2.jpg)  |
-| 감속기 부착 시스템<br />R = 100:1 | 0.01 [deg] | Dynamixel-Y의 분해능: 524,288 [pulse/rev]<br />![](/assets/images/dxl/y/dy_equation_2.jpg)  |
-| 볼스크류 시스템<br />L: 10mm/rev  | 0.01 [mm]  | Dynamixel-Y 1Rev당 Pulse = 524,288<br />Dynamixel-Y의 분해능: 524,288 [pulse/rev]<br />![](/assets/images/dxl/y/dy_equation_3.jpg)  |
+| 감속기 부착 시스템<br />R = 100:1 | 0.01 [deg] | Dynamixel-Y의 분해능: 524,288 [pulse/rev]<br />![](/assets/images/dxl/y/dy_equation_3.jpg)  |
+| 볼스크류 시스템<br />L: 10mm/rev  | 0.01 [mm]  | Dynamixel-Y 1Rev당 Pulse = 524,288<br />Dynamixel-Y의 분해능: 524,288 [pulse/rev]<br />![](/assets/images/dxl/y/dy_equation_4.jpg)  |