From a132d6652429e7c7e72188f08956b32a4c65acc5 Mon Sep 17 00:00:00 2001 From: James Brett Date: Mon, 24 Aug 2026 12:45:23 +1000 Subject: [PATCH] Added model file for h54-200-s500-r --- param/dxl_model/dynamixel.model | 1 + param/dxl_model/h54_200_s500_r.model | 66 ++++++++++++++++++++++++++++ 2 files changed, 67 insertions(+) create mode 100644 param/dxl_model/h54_200_s500_r.model diff --git a/param/dxl_model/dynamixel.model b/param/dxl_model/dynamixel.model index 78cc3b0..e522dd5 100644 --- a/param/dxl_model/dynamixel.model +++ b/param/dxl_model/dynamixel.model @@ -103,4 +103,5 @@ Number Name 46353 m54_60_s250_ra.model 51201 h42_20_s300_ra.model 53769 h54_100_s500_ra.model +54024 h54_200_s500_r.model 54025 h54_200_s500_ra.model diff --git a/param/dxl_model/h54_200_s500_r.model b/param/dxl_model/h54_200_s500_r.model new file mode 100644 index 0000000..909e1f9 --- /dev/null +++ b/param/dxl_model/h54_200_s500_r.model @@ -0,0 +1,66 @@ +[unit info] +Data Name value unit Sign Type Offset +Present Velocity 0.0002086373569151029553573 rad/s signed 0.0 +Goal Velocity 0.0002086373569151029553573 rad/s signed 0.0 +Present Current 1.0 raw signed 0.0 +Goal Current 1.0 raw signed 0.0 +Present Position 0.000012518225519013048 rad signed 0.0 +Goal Position 0.000012518225519013048 rad signed 0.0 +Present Input Voltage 0.1 V unsigned 0.0 + +[control table] +Address Size Data Name +0 2 Model Number +2 4 Model Information +6 1 Firmware Version +7 1 ID +8 1 Baud Rate +9 1 Return Delay Time +11 1 Operating Mode +13 4 Homing Offset +17 4 Moving Threshold +21 1 Temperature Limit +22 2 Max Voltage Limit +24 2 Min Voltage Limit +26 4 Acceleration Limit +30 2 Torque Limit +32 4 Velocity Limit +36 4 Max Position Limit +40 4 Min Position Limit +44 1 External Port Mode 1 +45 1 External Port Mode 2 +46 1 External Port Mode 3 +47 1 External Port Mode 4 +48 1 Shutdown +49 2 Indirect Address 1 +51 2 Indirect Address 2 +53 2 Indirect Address 3 +559 2 Indirect Address 256 +562 1 Torque Enable +563 1 LED Red +564 1 LED Green +565 1 LED Blue +586 2 Velocity I Gain +588 2 Velocity P Gain +594 2 Position P Gain +596 4 Goal Position +600 4 Goal Velocity +604 2 Goal Torque +606 4 Goal Acceleration +610 1 Moving +611 4 Present Position +615 4 Present Velocity +621 2 Present Current +623 2 Present Input Voltage +625 1 Present Temperature +626 2 External Port Data 1 +628 2 External Port Data 2 +630 2 External Port Data 3 +632 2 External Port Data 4 +634 1 Indirect Data 1 +635 1 Indirect Data 2 +636 1 Indirect Data 3 +889 1 Indirect Data 256 +890 1 Registered Instruction +891 1 Status Return Level +892 1 Hardware Error Status \ No newline at end of file