Merge pull request #627 from ROBOTIS-GIT/contents_control

PRO updated

_includes/kr/dxl/pro_plus/control_table_a.md

@@ -0,0 +1,42 @@
+
+# [컨트롤 테이블](#컨트롤-테이블)
+Control Table은 장치 내부에 존재하는 값으로서 장치의 현재 상태와 구동에 관한 Data로 구성되어 있습니다.  
+사용자는 Instruction Packet을 통해 Control Table의 Data를 변경하는 방식으로 장치를 제어할 수 있습니다.
+
+**주의** : PRO(A) 시리즈는 PRO와 다른 별개의 컨트롤 테이블을 사용합니다. PRO(A) 펌웨어로 변경하는 경우 주의하시기 바랍니다.
+{: .notice--warning}
+
+## [컨트롤 테이블, 데이터, 주소](#컨트롤-테이블-데이터-주소)
+Control Table은 장치의 상태와 제어를 위한 다수의 Data 필드로 구성된 집합체입니다.  
+사용자는 READ Instruction Packet을 통해 Control Table의 특정 Data를 읽어서 장치의 상태를 파악할 수 있습니다.  
+또한 WRITE Instruction Packet을 통해 Control Table의 특정 Data를 변경함으로써 장치를 제어할 수 있습니다.  
+Address는 Instruction Packet으로 Control Table의 특정 Data를 접근할 때 사용하는 고유값입니다.  
+장치의 Data를 읽거나 쓰기 위해서는 Instruction Packet에 해당 Data의 Address를 지정해 주어야 합니다.  
+Packet에 대한 자세한 내용은 [Protocol 2.0]을 참고해주세요.
+
+**참고** : 음수의 표현 방법은 2의 보수(Two’s complement) 규칙을 따릅니다. 2의 보수에 대한 자세한 설명은 위키피디아의 [Two's complement]를 참고하세요.
+{: .notice}
+
+### [영역 (EEPROM, RAM)](#영역-eeprom-ram)
+Control Table은 2가지 영역으로 구분됩니다. RAM Area에 위치한 Data는 전원이 인가될 때마다 다시 초기값으로 설정됩니다(Volatile).  
+반면 EEPROM Area에 위치한 Data는 값을 변경하면 전원이 꺼져도 그 값이 보존됩니다(Non-Volatile).  
+**EEPROM Area에 위치한 모든 Data는 Torque Enable(512)의 값이 '0'일 때만 변경할 수 있습니다.**
+
+### [크기](#크기)
+Data의 Size는 용도에 따라 1 ~ 4 byte로 정해져 있습니다. Instruction Packet을 통해 Data를 변경할 때는 해당 Data의 Size를 확인하시기 바랍니다.  
+2 byte 이상의 연속된 데이터는 [Little Endian] 규칙에 의해 기록됩니다.
+
+### [접근권한](#접근권한)
+Control Table의 Data는 2가지 접근 속성을 갖습니다. ‘RW’는 읽기와 쓰기 접근이 모두 가능합니다. 반면 ‘R’은 읽기 전용(Read Only) 속성을 갖습니다.  
+읽기 전용 속성의 Data는 WRITE Instruction으로 값이 변경되지 않습니다.  
+읽기 전용 속성(‘R’)은 주로 측정 또는 모니터링 용도로 사용되고, 읽기 쓰기 속성(‘RW’)은 장치의 제어 용도로 사용됩니다.
+
+### [초기값](#초기값)
+장치에 전원이 인가될 때, Control Table의 각 Data는 초기값으로 설정됩니다.  
+매뉴얼에 표기된 EEPROM 영역의 Default Value는 제품의 초기 설정값(공장 출하 설정값)입니다.  
+사용자가 변경한 경우, 초기값은 사용자가 변경한 값으로 적용됩니다.  
+RAM 영역의 Default Value 값은 전원이 인가되었을 때 설정되는 값입니다.
+
+[Protocol 2.0]: /docs/kr/dxl/protocol2/
+[Two's complement]: https://en.wikipedia.org/wiki/Two%27s_complement
+[Little Endian]: https://en.wikipedia.org/wiki/Endianness#Little

docs/en/dxl/mx/mx-106-2.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/mx/mx-106-2/
 sidebar:
   title: MX-106(2.0)
   nav: "mx-106-2"
+product_group: dxl_mx2
 ---
 
 ![](/assets/images/dxl/mx/mx-106r_product.jpg)

docs/en/dxl/mx/mx-106.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/mx/mx-106/
 sidebar:
   title: MX-106
   nav: "mx-106"
+product_group: dxl_mx
 ---
 
 ![](/assets/images/dxl/mx/mx-106r_product.jpg)

docs/en/dxl/mx/mx-12w.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/mx/mx-12w/
 sidebar:
   title: MX-12W
   nav: "mx-12w"
+product_group: dxl_mx
 ---
 
 ![](/assets/images/dxl/mx/mx-12_product.jpg)
@@ -17,24 +18,24 @@ sidebar:
 
 # [Specifications](#specifications)
 
-| Item           | Specifications     |
-| :------------- | :------------- |
-| Baud Rate       | 8000 bps ~ 4.5 Mbps       |
-| Resolution | 0.088°  |
-| Running Degree | 0&deg; ~ 360&deg;<br />Endless Turn |
-| Weight | 54.6g |
-| Dimensions (W x H x D) | 32mm x 50mm x 40mm |
-| Gear Ratio | 32 : 1  |
-| No Load Speed | 470rpm (at 12V) |
-| Operating Temperature | -5&deg;C ~ +70&deg;C |
-| Input Voltage | 10 ~ 14.8V (**Recommended : 12V**) |
-| Standby Current | 60mA |
-| Command Signal | Digital Packet |
-| Protocol Type | Half Duplex Asynchronous Serial Communication<br />(8bit, 1stop, No Parity) |
-| Physical Connection | TTL Level Multidrop Bus(Daisy Chain Type Connector) |
-| ID | 0 ~ 253 |
-| Feedback | Position, Temperature, Load, Input Voltage, etc |
-| Material | Engineering Plastic |
+| Item                   | Specifications                                                              |
+|:-----------------------|:----------------------------------------------------------------------------|
+| Baud Rate              | 8000 bps ~ 4.5 Mbps                                                         |
+| Resolution             | 0.088&deg;                                                                  |
+| Running Degree         | 0&deg; ~ 360&deg;<br />Endless Turn                                         |
+| Weight                 | 54.6g                                                                       |
+| Dimensions (W x H x D) | 32mm x 50mm x 40mm                                                          |
+| Gear Ratio             | 32 : 1                                                                      |
+| No Load Speed          | 470rpm (at 12V)                                                             |
+| Operating Temperature  | -5&deg;C ~ +70&deg;C                                                        |
+| Input Voltage          | 10 ~ 14.8V (**Recommended : 12V**)                                          |
+| Standby Current        | 60mA                                                                        |
+| Command Signal         | Digital Packet                                                              |
+| Protocol Type          | Half Duplex Asynchronous Serial Communication<br />(8bit, 1stop, No Parity) |
+| Physical Connection    | TTL Level Multidrop Bus(Daisy Chain Type Connector)                         |
+| ID                     | 0 ~ 253                                                                     |
+| Feedback               | Position, Temperature, Load, Input Voltage, etc                             |
+| Material               | Engineering Plastic                                                         |
 
 {% include en/dxl/warning.md %}
 
@@ -50,7 +51,7 @@ sidebar:
 |    4    |       1        | [Baud Rate](#baud-rate)                     | Communication Speed                |   RW   |         1          |
 |    5    |       1        | [Return Delay Time](#return-delay-time)     | Response Delay Time                |   RW   |        250         |
 |    6    |       2        | [CW Angle Limit](#cw-angle-limit)           | Clockwise Angle Limit              |   RW   |         0          |
-|    8    |       2        | [CCW Angle Limit](#ccw-angle-limit)         | Counter-Clockwise Angle Limit      |   RW   |        4,095        |
+|    8    |       2        | [CCW Angle Limit](#ccw-angle-limit)         | Counter-Clockwise Angle Limit      |   RW   |       4,095        |
 |   11    |       1        | [Temperature Limit](#temperature-limit)     | Maximum Internal Temperature Limit |   RW   |         70         |
 |   12    |       1        | [Min Voltage Limit](#min-voltage-limit)     | Minimum Input Voltage Limit        |   RW   |         60         |
 |   13    |       1        | [Max Voltage Limit](#max-voltage-limit)     | Maximum Input Voltage Limit        |   RW   |        160         |
@@ -71,7 +72,7 @@ sidebar:
 |   26    |       1        | [D Gain](#d-gain)                           | Derivative Gain               |   RW   |         8          |
 |   27    |       1        | [I Gain](#i-gain)                           | Integral Gain                 |   RW   |         0          |
 |   28    |       1        | [P Gain](#p-gain)                           | Proportional Gain             |   RW   |         8          |
-|   30    |       2        | [Goal Position](#goal-position)             | Desired Position               |   RW   |         -          |
+|   30    |       2        | [Goal Position](#goal-position)             | Desired Position              |   RW   |         -          |
 |   32    |       2        | [Moving Speed](#moving-speed)               | Moving Speed(Moving Velocity) |   RW   |         -          |
 |   34    |       2        | [Torque Limit](#torque-limit)               | Torque Limit(Goal Torque)     |   RW   |   ADD 14&amp;15    |
 |   36    |       2        | [Present Position](#present-position)       | Present Position              |   R    |         -          |
@@ -101,28 +102,28 @@ sidebar:
 ### <a name="baud-rate"></a>**[Baud Rate (4)](#baud-rate-4)**
 Baud Rate determines serial communication speed between a controller and DYNAMIXELs.
 
-| Value     | Baud Rate(bps)     | Margin of Error     |
-| :------------: | :------------: | :------------: |
-|1(Default)|1M|0.000%|
-|3|500,000| 0.000%|
-|4|400,000| 0.000%|
-|7|250,000| 0.000%|
-|9|200,000| 0.000%|
-|16|115200| -2.124%|
-|34|57600| 0.794%|
-|103|19200| -0.160%|
-|207|9600| -0.160%|
+|   Value    | Baud Rate(bps) | Margin of Error |
+|:----------:|:--------------:|:---------------:|
+| 1(Default) |       1M       |     0.000%      |
+|     3      |    500,000     |     0.000%      |
+|     4      |    400,000     |     0.000%      |
+|     7      |    250,000     |     0.000%      |
+|     9      |    200,000     |     0.000%      |
+|     16     |     115200     |     -2.124%     |
+|     34     |     57600      |     0.794%      |
+|    103     |     19200      |     -0.160%     |
+|    207     |      9600      |     -0.160%     |
 
 **NOTE** : Less than 3% of the baud rate error margin will not affect to UART communication.
 {: .notice}
 
 For BPS over 250 values :
 
-| Value     | Baud Rate     | Margin of Error     |
-| :------------: | :------------: | :------------: |
-|250|2,250,000|0.000%|
-|251|2,500,000|0.000%|
-|252|3,000,000|0.000%|
+| Value | Baud Rate | Margin of Error |
+|:-----:|:---------:|:---------------:|
+|  250  | 2,250,000 |     0.000%      |
+|  251  | 2,500,000 |     0.000%      |
+|  252  | 3,000,000 |     0.000%      |
 
 ### <a name="return-delay-time"></a>**[Return Delay Time (5)](#return-delay-time-5)**
 {% include en/dxl/control_table_return_delay_time.md %}

docs/en/dxl/mx/mx-28-2.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/mx/mx-28-2/
 sidebar:
   title: MX-28(2.0)
   nav: "mx-28-2"
+product_group: dxl_mx2
 ---
 
 ![](/assets/images/dxl/mx/mx-28ar_product.jpg)

docs/en/dxl/mx/mx-28.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/mx/mx-28/
 sidebar:
   title: MX-28
   nav: "mx-28"
+product_group: dxl_mx
 ---
 
 ![](/assets/images/dxl/mx/mx-28ar_product.jpg)

docs/en/dxl/mx/mx-64-2.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/mx/mx-64-2/
 sidebar:
   title: MX-64(2.0)
   nav: "mx-64-2"
+product_group: dxl_mx2
 ---
 
 ![](/assets/images/dxl/mx/mx-64ar_product.png)

docs/en/dxl/mx/mx-64.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/mx/mx-64/
 sidebar:
   title: MX-64
   nav: "mx-64"
+product_group: dxl_mx
 ---
 
 ![](/assets/images/dxl/mx/mx-64ar_product.png)

docs/en/dxl/pro/h42-20-s300-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/h42-20-s300-r/
 sidebar:
   title: H42-20-S300-R
   nav: "h42-20-s300-r"
+product_group: dxl_pro
 ---
 
 ![](/assets/images/dxl/pro/h42-20-s300-r_product.jpg)

docs/en/dxl/pro/h42-20-s300-ra.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/h42-20-s300-ra/
 sidebar:
   title: H42-20-S300-R(A)
   nav: "h42-20-s300-ra"
+product_group: dxl_pro_a
 ---
 
 ![](/assets/images/dxl/pro/h42-20-s300-r_product.jpg)

docs/en/dxl/pro/h54-100-s500-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/h54-100-s500-r/
 sidebar:
   title: H54-100-S500-R
   nav: "h54-100-s500-r"
+product_group: dxl_pro
 ---
 
 ![](/assets/images/dxl/pro/h54-100-s500-r_product.jpg)

docs/en/dxl/pro/h54-100-s500-ra.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/h54-100-s500-ra/
 sidebar:
   title: H54-100-S500-R(A)
   nav: "h54-100-s500-ra"
+product_group: dxl_pro_a
 ---
 
 ![](/assets/images/dxl/pro/h54-100-s500-r_product.jpg)

docs/en/dxl/pro/h54-200-s500-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/h54-200-s500-r/
 sidebar:
   title: H54-200-S500-R
   nav: "h54-200-s500-r"
+product_group: dxl_pro
 ---
 
 ![](/assets/images/dxl/pro/h54-200-s500-r_product.jpg)

docs/en/dxl/pro/h54-200-s500-ra.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/h54-200-s500-ra/
 sidebar:
   title: H54-200-S500-R(A)
   nav: "h54-200-s500-ra"
+product_group: dxl_pro_a
 ---
 
 ![](/assets/images/dxl/pro/h54-200-s500-r_product.jpg)

docs/en/dxl/pro/l42-10-s300-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/l42-10-s300-r/
 sidebar:
   title: L42-10-S300-R
   nav: "l42-10-s300-r"
+product_group: dxl_pro
 ---
 
 ![](/assets/images/dxl/pro/m42-10-s260-r_product.jpg)

docs/en/dxl/pro/l54-30-s400-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/l54-30-s400-r/
 sidebar:
   title: L54-30-S400-R
   nav: "l54-30-s400-r"
+product_group: dxl_pro
 ---
 
 ![](/assets/images/dxl/pro/h54-100-s500-r_product.jpg)

docs/en/dxl/pro/l54-30-s500-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/l54-30-s500-r/
 sidebar:
   title: L54-30-S500-R
   nav: "l54-30-s500-r"
+product_group: dxl_pro
 ---
 
 ![](/assets/images/dxl/pro/h54-100-s500-r_product.jpg)

docs/en/dxl/pro/l54-50-s290-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/l54-50-s290-r/
 sidebar:
   title: L54-50-S290-R
   nav: "l54-50-s290-r"
+product_group: dxl_pro
 ---
 
 ![](/assets/images/dxl/pro/h54-100-s500-r_product.jpg)

docs/en/dxl/pro/l54-50-s500-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/l54-50-s500-r/
 sidebar:
   title: L54-50-S500-R
   nav: "l54-50-s500-r"
+product_group: dxl_pro
 ---
 
 ![](/assets/images/dxl/pro/h54-100-s500-r_product.jpg)

docs/en/dxl/pro/m42-10-s260-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/m42-10-s260-r/
 sidebar:
   title: M42-10-S260-R
   nav: "m42-10-s260-r"
+product_group: dxl_pro
 ---
 
 ![](/assets/images/dxl/pro/m42-10-s260-r_product.jpg)

docs/en/dxl/pro/m42-10-s260-ra.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/m42-10-s260-ra/
 sidebar:
   title: M42-10-S260-R(A)
   nav: "m42-10-s260-ra"
+product_group: dxl_pro_a
 ---
 
 ![](/assets/images/dxl/pro/m42-10-s260-r_product.jpg)

docs/en/dxl/pro/m54-40-s250-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/m54-40-s250-r/
 sidebar:
   title: M54-40-S250-R
   nav: "m54-40-s250-r"
+product_group: dxl_pro
 ---
 
 ![](/assets/images/dxl/pro/h54-100-s500-r_product.jpg)

docs/en/dxl/pro/m54-40-s250-ra.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/m54-40-s250-ra/
 sidebar:
   title: M54-40-S250-R(A)
   nav: "m54-40-s250-ra"
+product_group: dxl_pro_a
 ---
 
 ![](/assets/images/dxl/pro/h54-100-s500-r_product.jpg)

docs/en/dxl/pro/m54-60-s250-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/m54-60-s250-r/
 sidebar:
   title: M54-60-S250-R
   nav: "m54-60-s250-r"
+product_group: dxl_pro
 ---
 
 ![](/assets/images/dxl/pro/h54-200-s500-r_product.jpg)

docs/en/dxl/pro/m54-60-s250-ra.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro/m54-60-s250-ra/
 sidebar:
   title: M54-60-S250-R(A)
   nav: "m54-60-s250-ra"
+product_group: dxl_pro_a
 ---
 
 ![](/assets/images/dxl/pro/h54-200-s500-r_product.jpg)

docs/en/dxl/pro_plus/h42p-020-s300-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro_plus/h42p-020-s300-r/
 sidebar:
   title: H42P-020-S300-R
   nav: "h42p-020-s300-r"
+product_group: dxl_pro_plus
 ---
 
 ![](/assets/images/dxl/pro_plus/h42p-020-s300-r.png)

docs/en/dxl/pro_plus/h54p-100-s500-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro_plus/h54p-100-s500-r/
 sidebar:
   title: H54P-100-S500-R
   nav: "h54p-100-s500-r"
+product_group: dxl_pro_plus
 ---
 
 ![](/assets/images/dxl/pro_plus/h54p-100-s500-r.png)

docs/en/dxl/pro_plus/h54p-200-s500-r.md

@@ -9,6 +9,7 @@ permalink: /docs/en/dxl/pro_plus/h54p-200-s500-r/
 sidebar:
   title: H54P-200-S500-R
   nav: "h54p-200-s500-r"
+product_group: dxl_pro_plus
 ---
 
 ![](/assets/images/dxl/pro_plus/h54p-200-s500-r.png)

docs/kr/dxl/mx/mx-106-2.md

@@ -9,6 +9,7 @@ permalink: /docs/kr/dxl/mx/mx-106-2/
 sidebar:
   title: MX-106(2.0)
   nav: "mx-106-2"
+product_group: dxl_mx2
 ---
 
 

docs/kr/dxl/mx/mx-106.md

@@ -9,6 +9,7 @@ permalink: /docs/kr/dxl/mx/mx-106/
 sidebar:
   title: MX-106
   nav: "mx-106"
+product_group: dxl_mx
 ---
 
 

docs/kr/dxl/mx/mx-12w.md

@@ -9,6 +9,7 @@ permalink: /docs/kr/dxl/mx/mx-12w/
 sidebar:
   title: MX-12W
   nav: "mx-12w"
+product_group: dxl_mx
 ---
 
 ![](/assets/images/dxl/mx/mx-12_product.jpg)

docs/kr/dxl/mx/mx-28-2.md

@@ -9,6 +9,7 @@ permalink: /docs/kr/dxl/mx/mx-28-2/
 sidebar:
   title: MX-28(2.0)
   nav: "mx-28-2"
+product_group: dxl_mx2
 ---
 
 ![](/assets/images/dxl/mx/mx-28ar_product.jpg)