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yun-goonyun-goon
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Merge pull request #25 from ROBOTIS-GIT/feature-add-p-model
Modified the model file
2 parents ae9927c + 41887f4 commit ff75941

8 files changed

+180
-9
lines changed

‎CHANGELOG.rst

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Changelog for package dynamixel_hardware_interface
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.4.1 (2025-03-31)
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------------------
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* Modified the Model File
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* Contributors: Wonho Yun
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1.4.0 (2025-03-20)
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------------------
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* Added Torque Constant Parameter to DXL Model Files

‎package.xml

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<?xml version='1.0' encoding='UTF-8'?>
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<package format="3">
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<name>dynamixel_hardware_interface</name>
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<version>1.4.0</version>
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<version>1.4.1</version>
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<description>
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ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
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</description>

‎param/dxl_model/dynamixel.model

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@@ -33,12 +33,14 @@ Number Name
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1240 xc330_m288.model
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1270 xw430_t333.model
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1310 xw540_h260.model
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2000 ph42_020_s300.model
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4000 ym070_210_m001.model
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4020 ym070_210_r051.model
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4030 ym070_210_r099.model
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4050 ym070_210_a099.model
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4120 ym080_230_m001.model
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4130 ym080_230_b001.model
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4140 ym080_230_r051.model
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4150 ym080_230_r099.model
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4170 ym080_230_a099.model
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35074 rh_p12_rn.model
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35074 rh_p12_rn.model

‎param/dxl_model/ph42_020_s300.model

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[type info]
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name value
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value_of_zero_radian_position 0
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value_of_max_radian_position 303750
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value_of_min_radian_position -303750
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min_radian -3.14159265
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max_radian 3.14159265
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[control table]
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Address Size Data Name
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0 2 Model Number
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2 4 Model Information
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6 1 Firmware Version
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7 1 ID
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8 1 Baud Rate
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9 1 Return Delay Time
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10 1 Drive Mode
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11 1 Operating Mode
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12 1 Secondary(Shadow) ID
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13 1 Protocol Type
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20 4 Homing Offset
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24 4 Moving Threshold
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31 1 Temperature Limit
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32 2 Max Voltage Limit
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34 2 Min Voltage Limit
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36 2 PWM Limit
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38 2 Current Limit
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40 4 Acceleration Limit
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44 4 Velocity Limit
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48 4 Max Position Limit
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52 4 Min Position Limit
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512 1 Torque Enable
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513 1 LED Red
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514 1 LED Green
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515 1 LED Blue
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516 1 Status Return Level
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517 1 Registered Instruction
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518 1 Hardware Error Status
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524 2 Velocity I Gain
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526 2 Velocity P Gain
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528 2 Position D Gain
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530 2 Position I Gain
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532 2 Position P Gain
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536 2 Feedforward 2nd Gain
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538 2 Feedforward 1st Gain
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546 1 Bus Watchdog
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548 2 Goal PWM
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550 2 Goal Current
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552 4 Goal Velocity
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556 4 Profile Acceleration
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560 4 Profile Velocity
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564 4 Goal Position
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568 2 Realtime Tick
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570 1 Moving
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571 1 Moving Status
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572 2 Present PWM
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574 2 Present Current
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576 4 Present Velocity
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580 4 Present Position
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584 4 Velocity Trajectory
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588 4 Position Trajectory
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592 2 Present Input Voltage
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594 1 Present Temperature
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878 1 Backup Ready
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168 2 Indirect Address Write
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634 1 Indirect Data Write
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350 2 Indirect Address Read
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698 1 Indirect Data Read

‎param/dxl_model/xh430_v210.model

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168 2 Indirect Address Write
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224 1 Indirect Data Write
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578 2 Indirect Address Read
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634 1 Indirect Data Read
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634 1 Indirect Data Read

‎param/dxl_model/ym070_210_r099.model

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[type info]
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name value
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value_of_zero_radian_position 25952256
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value_of_max_radian_position 51904511
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value_of_min_radian_position 0
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value_of_zero_radian_position 0
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value_of_max_radian_position 262144
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value_of_min_radian_position -262144
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min_radian -3.14159265
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max_radian 3.14159265
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‎param/dxl_model/ym080_230_b001.model

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[type info]
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name value
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value_of_zero_radian_position 0
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value_of_max_radian_position 262144
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value_of_min_radian_position -262144
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min_radian -3.14159265
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max_radian 3.14159265
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[control table]
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Address Size Data Name
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0 2 Model Number
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2 4 Model Information
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6 1 Firmware Version
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7 1 ID
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8 2 Bus Watchdog
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10 1 Secondary(Shadow) ID
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11 1 Protocol Type
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12 1 Baud Rate (Bus)
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13 1 Return Delay Time
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15 1 Status Return Level
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16 1 Registered Instruction
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32 1 Drive Mode
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33 1 Operating Mode
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34 1 Startup Configuration
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38 2 Position Limit Threshold
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40 4 In-Position Threshold
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44 4 Following Error Threshold
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48 4 Moving Threshold
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52 4 Homing Offset
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56 1 Inverter Temperature Limit
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57 1 Motor Temperature Limit
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60 2 Max Voltage Limit
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62 2 Min Voltage Limit
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64 2 PWM Limit
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66 2 Current Limit
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68 4 Acceleration Limit
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72 4 Velocity Limit
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76 4 Max Position Limit
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84 4 Min Position Limit
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96 4 Electronic GearRatio Numerator
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100 4 Electronic GearRatio Denominator
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104 2 Safe Stop Time
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106 2 Brake Delay
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108 2 Goal Update Delay
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110 1 Overexcitation Voltage
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111 1 Normal Excitation Voltage
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112 2 Overexcitation Time
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132 2 Present Velocity LPF Frequency
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134 2 Goal Current LPF Frequency
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136 2 Position FF LPF Time
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138 2 Velocity FF LPF Time
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152 1 Controller State
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153 1 Error Code
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154 1 Error Code History 1
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155 1 Error Code History 2
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168 1 Error Code History 15
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169 1 Error Code History 16
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170 1 Hybrid Save
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212 4 Velocity I Gain
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216 4 Velocity P Gain
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220 4 Velocity FF Gain
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224 4 Position D Gain
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228 4 Position I Gain
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232 4 Position P Gain
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236 4 Position FF Gain
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240 4 Profile Acceleration
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244 4 Profile Velocity
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248 4 Profile Acceleration Time
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252 4 Profile Time
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256 2 Indirect Address 1
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512 1 Torque Enable
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513 1 LED
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516 2 PWM Offset
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518 2 Current Offset
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520 4 Velocity Offset
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524 2 Goal PWM
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526 2 Goal Current
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528 4 Goal Velocity
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532 4 Goal Position
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541 1 Moving Status
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542 2 Realtime Tick
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544 2 Present PWM
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546 2 Present Current
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548 4 Present Velocity
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552 4 Present Position
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560 4 Position Trajectory
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564 4 Velocity Trajectory
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568 2 Present Input Voltage
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570 1 Present Inverter Temperature
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571 1 Present Motor Temperature
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634 1 Indirect Data 1
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919 1 Backup Ready
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256 2 Indirect Address Write
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634 1 Indirect Data Write
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384 2 Indirect Address Read
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698 1 Indirect Data Read

‎param/dxl_model/ym080_230_r099.model

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[type info]
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name value
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value_of_zero_radian_position 25952256
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value_of_max_radian_position 51904511
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value_of_min_radian_position 0
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value_of_zero_radian_position 0
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value_of_max_radian_position 262144
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value_of_min_radian_position -262144
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min_radian -3.14159265
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max_radian 3.14159265
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