Merge pull request #1406 from ROBOTIS-GIT/XC330

Xc330

_data/dxl_x_info.yml

@@ -8,7 +8,9 @@ common_x_specs:
   mode:               &mode           "전류 제어 모드<br />속도 제어 모드<br />위치 제어 모드 (0 ~ 360 [&deg;])<br />확장 위치 제어 모드 (멀티턴)<br />전류기반 위치 제어 모드<br />PWM 제어 모드 (Voltage Control Mode)"
   mode_en:            &mode_en        "Current Control Mode<br />Velcoity Control Mode<br />Position Control Mode (0 ~ 360 [&deg;])<br />Extended Position Control Mode (Multi-turn)<br />Current-based Position Control Mode<br />PWM Control Mode (Voltage Control Mode)"
   motor:              &motor          "Coreless(Maxon)"
-  weight_330:         &weight_330     "18 [g]"
+  motor_coreless_dc:  &motor_coreless_dc "Coreless DC"
+  weight_xl330:       &weight_xl330   "18 [g]"
+  weight_xc330:       &weight_xc330   "23 [g]"
   weight_430:         &weight_430     "82 [g]"
   weight_540:         &weight_540     "165 [g]"
   dimension_330:      &dimension_330  "20.0 x 34.0 x 26.0 [mm]"
@@ -20,6 +22,8 @@ common_x_specs:
   temperature:        &temperature    "-5 ~ +80 [&deg;C]"
   voltage_12:         &voltage_12     "10.0 ~ 14.8 [V] (**권장 전압 : 12.0 [V]**)"
   voltage_12_en:      &voltage_12_en  "10.0 ~ 14.8 [V] (**Recommended : 12.0 [V]**)"
+  voltage_6_12:       &voltage_6_12    "6.5 ~ 12.0 [V] (**권장 전압 : 11.1 [V]**)"
+  voltage_6_12_en:    &voltage_6_12_en "6.5 ~ 12.0 [V] (**Recommended : 11.1 [V]**)"
   voltage_05_en:      &voltage_05_en  "3.7 ~ 6.0 [V] (**Recommended : 5.0 [V]**)"
   voltage_05:         &voltage_05     "3.7 ~ 6.0 [V] (**권장 전압 : 5.0 [V]**)"
   voltage_24:         &voltage_24     "24.0 [V] (**권장 전압 : 24.0 [V]**)"
@@ -52,7 +56,7 @@ xl330-m077:
   backlash:           "N/A"
   mode:               *mode
   mode_en:            *mode_en
-  weight:             *weight_330
+  weight:             *weight_xl330
   dimensions:         *dimension_330
   gearratio:          "77.5 : 1"
   noloadspeed:        "278 [rev/min] (at 3.7 [V]) <br /> **383 [rev/min] (at 5.0 [V])** <br /> 456 [rev/min] (at 6.0 [V])"
@@ -82,7 +86,7 @@ xl330-m288:
   backlash:           "N/A"
   mode:               *mode
   mode_en:            *mode_en
-  weight:             *weight_330
+  weight:             *weight_xl330
   dimensions:         *dimension_330
   gearratio:          "288.4 : 1"
   noloadspeed:        "76 [rev/min] (at 3.7 [V]) <br /> **103 [rev/min] (at 5.0 [V])** <br /> 123 [rev/min] (at 6.0 [V])"
@@ -102,6 +106,126 @@ xl330-m288:
   gear_material:      "Engineering Plastic"
   standbycurrent:     17 [mA]
 
+xc330-m181:
+  mcu:                "ARM CORTEX-M0+ (64 [MHz], 32Bit)"
+  encoder:            "Contactless absolute encoder (12Bit, 360 [&deg;])<br />Maker : ams(www.ams.com), Part No : AS5601"
+  motor:              *motor_coreless_dc
+  baudrate:           "9,600 [bps] ~ 4 [Mbps]"
+  control:            *control
+  resolution:         *resolution
+  backlash:           "N/A"
+  mode:               *mode
+  mode_en:            *mode_en
+  weight:             *weight_xc330
+  dimensions:         *dimension_330
+  gearratio:          "180.62 : 1"
+  noloadspeed:        "95 [rev/min] (at 3.7 [V]) <br /> **129 [rev/min] (at 5.0 [V])** <br /> 155 [rev/min] (at 6.0 [V])"
+  stalltorque:        "0.52 [N.m] (at 3.7 [V], 1.34 [A]) <br /> **0.60 [N.m] (at 5.0 [V], 1.80 [A])** <br /> 0.66 [N.m] (at 6.0 [V], 2.15 [A])"
+  radialload:         "N/A"
+  radialload_en:      "N/A"
+  axialload:          "N/A"
+  temperature:        "-5 ~ +60 [&deg;C]"
+  voltage:            *voltage_05
+  voltage_en:         *voltage_05_en
+  command:            *command
+  protocoltype:       *ttl
+  physicalconnection: *ttl_connection_3v3
+  id:                 *id
+  feedback:           *feedback
+  case_material:      "Engineering Plastic"
+  gear_material:      "Full Metal Gear, 2 Bearing"
+  standbycurrent:     17 [mA]
+
+xc330-m288:
+  mcu:                "ARM CORTEX-M0+ (64 [MHz], 32Bit)"
+  encoder:            "Contactless absolute encoder (12Bit, 360 [&deg;])<br />Maker : ams(www.ams.com), Part No : AS5601"
+  motor:              *motor_coreless_dc
+  baudrate:           "9,600 [bps] ~ 4 [Mbps]"
+  control:            *control
+  resolution:         *resolution
+  backlash:           "N/A"
+  mode:               *mode
+  mode_en:            *mode_en
+  weight:             *weight_xc330
+  dimensions:         *dimension_330
+  gearratio:          "288.35 : 1"
+  noloadspeed:        "59 [rev/min] (at 3.7 [V]) <br /> **81 [rev/min] (at 5.0 [V])** <br /> 97 [rev/min] (at 6.0 [V])"
+  stalltorque:        "0.69 [N.m] (at 3.7 [V], 1.34 [A]) <br /> **0.93 [N.m] (at 5.0 [V], 1.80 [A])** <br /> 1.10 [N.m] (at 6.0 [V], 2.15 [A])"
+  radialload:         "N/A"
+  radialload_en:      "N/A"
+  axialload:          "N/A"
+  temperature:        "-5 ~ +60 [&deg;C]"
+  voltage:            *voltage_05
+  voltage_en:         *voltage_05_en
+  command:            *command
+  protocoltype:       *ttl
+  physicalconnection: *ttl_connection_3v3
+  id:                 *id
+  feedback:           *feedback
+  case_material:      "Engineering Plastic"
+  gear_material:      "Full Metal Gear, 2 Bearing"
+  standbycurrent:     17 [mA]
+
+xc330-t181:
+  mcu:                "ARM CORTEX-M0+ (64 [MHz], 32Bit)"
+  encoder:            "Contactless absolute encoder (12Bit, 360 [&deg;])<br />Maker : ams(www.ams.com), Part No : AS5601"
+  motor:              *motor_coreless_dc
+  baudrate:           "9,600 [bps] ~ 4 [Mbps]"
+  control:            *control
+  resolution:         *resolution
+  backlash:           "N/A"
+  mode:               *mode
+  mode_en:            *mode_en
+  weight:             *weight_xc330
+  dimensions:         *dimension_330
+  gearratio:          "180.62 : 1"
+  noloadspeed:        "83 [rev/min] (at 9.0 [V]) <br /> **104 [rev/min] (at 11.1 [V])** <br /> 113 [rev/min] (at 12.0 [V])"
+  stalltorque:        "0.65 [N.m] (at 9.0 [V], 0.61 [A]) <br /> **0.76 [N.m] (at 11.1 [V], 0.80 [A])** <br /> 0.80 [N.m] (at 12.0 [V], 0.88 [A])"
+  radialload:         "N/A"
+  radialload_en:      "N/A"
+  axialload:          "N/A"
+  temperature:        "-5 ~ +60 [&deg;C]"
+  voltage:            *voltage_6_12
+  voltage_en:         *voltage_6_12_en
+  command:            *command
+  protocoltype:       *ttl
+  physicalconnection: *ttl_connection_5v
+  id:                 *id
+  feedback:           *feedback
+  case_material:      "Engineering Plastic"
+  gear_material:      "Full Metal Gear, 2 Bearing"
+  standbycurrent:     17 [mA]
+
+xc330-t288:
+  mcu:                "ARM CORTEX-M0+ (64 [MHz], 32Bit)"
+  encoder:            "Contactless absolute encoder (12Bit, 360 [&deg;])<br />Maker : ams(www.ams.com), Part No : AS5601"
+  motor:              *motor_coreless_dc
+  baudrate:           "9,600 [bps] ~ 4 [Mbps]"
+  control:            *control
+  resolution:         *resolution
+  backlash:           "N/A"
+  mode:               *mode
+  mode_en:            *mode_en
+  weight:             *weight_xc330
+  dimensions:         *dimension_330
+  gearratio:          "288.35 : 1"
+  noloadspeed:        "52 [rev/min] (at 9.0 [V]) <br /> **65 [rev/min] (at 11.1 [V])** <br /> 71 [rev/min] (at 12.0 [V])"
+  stalltorque:        "0.76 [N.m] (at 9.0 [V], 0.61 [A]) <br /> **0.92 [N.m] (at 11.1 [V], 0.80 [A])** <br /> 1.00 [N.m] (at 12.0 [V], 0.88 [A])"
+  radialload:         "N/A"
+  radialload_en:      "N/A"
+  axialload:          "N/A"
+  temperature:        "-5 ~ +60 [&deg;C]"
+  voltage:            *voltage_6_12
+  voltage_en:         *voltage_6_12_en
+  command:            *command
+  protocoltype:       *ttl
+  physicalconnection: *ttl_connection_5v
+  id:                 *id
+  feedback:           *feedback
+  case_material:      "Engineering Plastic"
+  gear_material:      "Full Metal Gear, 2 Bearing"
+  standbycurrent:     17 [mA]
+
 xh430-v210:
   mcu:                *mcu
   encoder:            *encoder

_includes/en/dxl/control_table_backup_ready.md

@@ -6,7 +6,7 @@
 {% assign firmware_version_backup = "firmware **V45**" %}
 {% endif %}
 
-Indicates whether backup data of Control Table saved through Control table Backup packet exist. 
+Indicates whether backup data of Control Table saved through [Control table Backup packet](/docs/en/dxl/protocol2/#control-table-backup-0x20) exist. 
 
 | Value | Description                           |
 |:-----:|:--------------------------------------|

_includes/en/dxl/control_table_baudrate_2.md

@@ -1,6 +1,6 @@
 The Baud Rate(8) determines serial communication speed between a controller and DYNAMIXEL.
 
-{% if page.product_group=='xl330' %}
+{% if page.product_group=='xl330' or page.product_group=='xc330' %}
 
 |   Value    |   Baud Rate   | Margin of Error |
 |:----------:|:-------------:|:---------------:|

_includes/en/dxl/control_table_compliance_slope.md

@@ -2,15 +2,16 @@ It exists in each direction of CW/CCW and sets the level of Torque near the goal
 Compliance Slope is set in 7 steps, the higher the value, the more flexibility is obtained.
 Data representative value is actually used value. That is, even if the value is set to 25, 16 is used internally as the representative value.
 
-|Step| Data Value | Data Representative Value     |
-| :-------------: | :-------------: | :-------------: |
-|1|0(0x00) ~ 3(0x03)|2(0x02)|
-|2|4(0x04) ~ 7(0x07)|4(0x04)|
-|3|8(0x08)~15(0x0F)|8(0x08)|
-|4|16(0x10)~31(0x1F)|16(0x10)|
-|5|32(0x20)~63(0x3F)|32(0x20)|
-|6|64(0x40)~127(0x7F)|64(0x40)|
-|7|128(0x80)~254(0xFE)|128(0x80)|
+| Step |     Data Value      | Data Representative Value |
+|:----:|:-------------------:|:-------------------------:|
+|  1   |  0(0x00) ~ 3(0x03)  |          2(0x02)          |
+|  2   |  4(0x04) ~ 7(0x07)  |          4(0x04)          |
+|  3   |  8(0x08)~15(0x0F)   |          8(0x08)          |
+|  4   |  16(0x10)~31(0x1F)  |         16(0x10)          |
+|  5   |  32(0x20)~63(0x3F)  |         32(0x20)          |
+|  6   | 64(0x40)~127(0x7F)  |         64(0x40)          |
+|  7   | 128(0x80)~254(0xFE) |         128(0x80)         |
+
 
 Compliance is to set the control flexibility of the motor.
 The following diagram shows the relationship between output torque and position error of the motor.

_includes/en/dxl/control_table_indirect_data.md

@@ -1,12 +1,12 @@
-{% if page.product_group=='xl330' %}
+{% if page.product_group=='xl330' or page.product_group=='xc330' %}
 
 The Indirect Address and the Indirect Data are useful when accessing two remote addresses in the [Control Table](#control-table) as sequential addresses. 
 - Sequential addresses can increase Instruction Packet efficiency. Addresses that can be defined as Indirect Address is limited to [RAM area (Address 64 ~ 227)](#control-table-of-ram-area).
 - If specific address is allocated to Indirect Address, Indirect Address inherits features and properties of the Data from the specific Address. Property includes Size(Byte length), value range, and Access property(Read Only, Read/Write). 
 - For instance, allocating 65 (Address of LED) to Indirect Address 1(168), Indirect Data 1(208) can perform exactly same as [LED(65)]. 
 
 | Indirect Address Range | Description                                                                           |
-|:-----------------------|:--------------------------------------------------------------------------------------|
+|:-----------------------:|:--------------------------------------------------------------------------------------|
 | 64 ~ 227               | [EEPROM](#control-table-of-eeprom-area) address can't be assigned to Indirect Address |
 
 #### [Indirect Address and Indirect Data Examples](#indirect-address-and-indirect-data-examples)
@@ -34,7 +34,7 @@ Indirect Address and Indirect Data are useful when accessing two remote addresse
 - For instance, allocating 65(Address of LED) to Indirect Address 1(168), Indirect Data 1(224) can perform exactly same as [LED(65)].
 
 | Indirect Address Range | Description                                                                           |
-|:-----------------------|:--------------------------------------------------------------------------------------|
+|:-----------------------:|:--------------------------------------------------------------------------------------|
 | 64 ~ 661               | [EEPROM](#control-table-of-eeprom-area) address can't be assigned to Indirect Address |
 
 #### [Indirect Address and Indirect Data Examples](#indirect-address-and-indirect-data-examples)

_includes/en/dxl/control_table_protocolversion.md

@@ -1,4 +1,4 @@
-{% if page.product_group=='xl330' %}
+{% if page.product_group=='xl330' or page.product_group=='xc330' %}
 
 To communicate with DYANMIXEL, it is important to select a proper protocol type.
 
@@ -7,7 +7,7 @@ The following table lists available protocol types compatible with DYNAMIXEL for
 Select a desired DYNAMIXEL protocol type according to your application.
 
 |   Value    |                       Type                        |                     Descriptions                      |
-| :--------: | :-----------------------------------------------: | :---------------------------------------------------: |
+|:----------:|:-------------------------------------------------:|:-----------------------------------------------------:|
 | 2(default) | [DYNAMIXEL Protocol 2.0](#dynamixel-protocol-20)  |       [Protocol Compatibility table]{: .popup}        |
 |     20     | [Experimental S.BUS](#experimental-sbus-protocol) | Compatible with S.BUS Protocol supported RC receivers |
 |     21     | [Experimental iBUS](#experimental-ibus-protocol)  | Compatible with iBUS Protocol supported RC receivers  |
@@ -84,7 +84,7 @@ DYNAMIXEL protocol type (either DYNAMIXEL Protocol 1.0 or 2.0) can be selected u
 It is recommended to use an identical protocol type for multiple DYNAMIXEL.
 
 |   Value    |      Description       |                             Compatible DYNAMIXEL                              |
-| :--------: | :--------------------: | :---------------------------------------------------------------------------: |
+|:----------:|:----------------------:|:-----------------------------------------------------------------------------:|
 |     1      | DYNAMIXEL Protocol 1.0 | AX Series, DX Series, RX Series, EX Series, MX Series with Firmware below v39 |
 | 2(default) | DYNAMIXEL Protocol 2.0 |         MX-28/64/106 with Firmware v39 or above, X Series, PRO Series         |
 

_includes/en/dxl/control_table_reg_instruction.md

@@ -1,21 +1,23 @@
 {% if page.product_group=='dxl_ax' or page.product_group=='dxl_dx' or page.product_group=='dxl_ex' or page.product_group=='dxl_rx' or page.product_group=='dxl_mx' %} 
 
-{% assign registed_instruction = "Registered Instruction (44)" %}
+{% assign registered_instruction = "Registered Instruction (44)" %}
 
 {% elsif page.product_group == 'dxl_xl320' %}
 
-{% assign registed_instruction = "Registered Instruction (47)" %}
+{% assign registered_instruction = "Registered Instruction (47)" %}
 
 {% else %}
 
-{% assign registed_instruction = "Registered Instruction (69)" %}
+{% assign registered_instruction = "Registered Instruction (69)" %}
 
 {% endif %}
 
+Indicates whether the Write Instruction is registered by [Reg Write Instruction](https://emanual.robotis.com/docs/en/dxl/protocol2/#reg-write-0x04)
+
 | Value | Description                                  |
 |:-----:|:---------------------------------------------|
 |   0   | No instruction registered by REG_WRITE.      |
-|   1   | Instruction registered by REG_WRITE exsists. |
+|   1   | Instruction registered by REG_WRITE exists. |
 
-**NOTE** : If ACTION instruction is executed, the {{ registed_instruction }} will be changed to 0.
+**NOTE** : If ACTION instruction is executed, the {{ registered_instruction }} will be changed to 0.
 {: .notice}