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Added model file for h54-200-s500-r #115

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Added model file for h54-200-s500-r #115

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1 change: 1 addition & 0 deletions param/dxl_model/dynamixel.model
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Original file line number Diff line number Diff line change
Expand Up @@ -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
66 changes: 66 additions & 0 deletions param/dxl_model/h54_200_s500_r.model
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Original file line number Diff line number Diff line change
@@ -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