diff --git a/_includes/en/dxl/control_table_buswatchdog.md b/_includes/en/dxl/control_table_buswatchdog.md index a7f721fed..e4b26d1fc 100644 --- a/_includes/en/dxl/control_table_buswatchdog.md +++ b/_includes/en/dxl/control_table_buswatchdog.md @@ -1,5 +1,5 @@ {% if page.ref=='xd430-t210' or page.ref=='xd430-t350' or page.ref=='xd540-t150' or page.ref=='xd540-t270' or page.ref=='xd430-t200' or page.ref=='xw430-t333' or page.ref=='xw540-t140' or page.ref=='xw540-t260' %} -{% assign communication= "(RS486)" %} +{% assign communication= "(RS485)" %} {% else %} {% assign communication= "(RS485, TTL)" %} {% endif %} diff --git a/_includes/kr/dxl/control_table_buswatchdog.md b/_includes/kr/dxl/control_table_buswatchdog.md index fbdf04d81..f319906fb 100644 --- a/_includes/kr/dxl/control_table_buswatchdog.md +++ b/_includes/kr/dxl/control_table_buswatchdog.md @@ -1,5 +1,5 @@ {% if page.ref=='xd430-t210' or page.ref=='xd430-t350' or page.ref=='xd540-t150' or page.ref=='xd540-t270' or page.ref=='xd430-t200' or page.ref=='xw430-t333' or page.ref=='xw540-t140' or page.ref=='xw540-t260' %} -{% assign communication= "(RS486)" %} +{% assign communication= "(RS485)" %} {% else %} {% assign communication= "(RS485, TTL)" %} {% endif %} diff --git a/assets/images/dxl/y/model_numbering_en.png b/assets/images/dxl/y/model_numbering_en.png index fb6d12755..6cefd4365 100644 Binary files a/assets/images/dxl/y/model_numbering_en.png and b/assets/images/dxl/y/model_numbering_en.png differ diff --git a/assets/images/dxl/y/model_numbering_kr.png b/assets/images/dxl/y/model_numbering_kr.png index 6e765cbbc..4f6f92bd3 100644 Binary files a/assets/images/dxl/y/model_numbering_kr.png and b/assets/images/dxl/y/model_numbering_kr.png differ diff --git a/docs/en/dxl/y/ym080-230-a051-rh.md b/docs/en/dxl/y/ym080-230-a051-rh.md index bc702b257..005d22bc1 100644 --- a/docs/en/dxl/y/ym080-230-a051-rh.md +++ b/docs/en/dxl/y/ym080-230-a051-rh.md @@ -63,8 +63,8 @@ product_group: dxl_y_a | 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | | 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | | 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,240 | 0 ~ 2,240 | 0.01 [A] | -| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 21,336,000 | 10 [rev/min²] | -| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 355,600 | 0.01 [rev/min] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 418,352 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 6,972 | 0.01 [rev/min] | | 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | | 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | | 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | diff --git a/docs/en/dxl/y/ym080-230-a099-rh.md b/docs/en/dxl/y/ym080-230-a099-rh.md index 1488f803a..e59d7deff 100644 --- a/docs/en/dxl/y/ym080-230-a099-rh.md +++ b/docs/en/dxl/y/ym080-230-a099-rh.md @@ -236,7 +236,7 @@ product_group: dxl_y_a | Unit | Range | | :-----------: | :---------: | -| 10 [rev/min²] | 0 ~ 418,352 | +| 10 [rev/min²] | 0 ~ 215,515 | ### **[Velocity Limit(72)](#velocity-limit72)** @@ -244,7 +244,7 @@ product_group: dxl_y_a | Unit | Range | Description | | :-------: | :-------: | :---------------------------------------------------------------------------------------: | -| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | +| 0.01[RPM] | 0 ~ 3,591 | 1,000 = Maximum speed limited to 10[RPM]
3,591 = Maximum speed limited to 35.91[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** diff --git a/docs/en/dxl/y/ym080-230-r051-rh.md b/docs/en/dxl/y/ym080-230-r051-rh.md index f482617b2..99b032668 100644 --- a/docs/en/dxl/y/ym080-230-r051-rh.md +++ b/docs/en/dxl/y/ym080-230-r051-rh.md @@ -63,8 +63,8 @@ product_group: dxl_y_r | 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | | 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | | 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,240 | 0 ~ 2,240 | 0.01 [A] | -| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 21,336,000 | 10 [rev/min²] | -| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 355,600 | 0.01 [rev/min] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 418,352 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 6,972 | 0.01 [rev/min] | | 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | | 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | | 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | diff --git a/docs/en/dxl/y/ym080-230-r099-rh.md b/docs/en/dxl/y/ym080-230-r099-rh.md index d257b9e9d..e3a6785b0 100644 --- a/docs/en/dxl/y/ym080-230-r099-rh.md +++ b/docs/en/dxl/y/ym080-230-r099-rh.md @@ -236,7 +236,7 @@ product_group: dxl_y_r | Unit | Range | | :-----------: | :---------: | -| 10 [rev/min²] | 0 ~ 418,352 | +| 10 [rev/min²] | 0 ~ 215,515 | ### **[Velocity Limit(72)](#velocity-limit72)** @@ -244,7 +244,7 @@ product_group: dxl_y_r | Unit | Range | Description | | :-------: | :-------: | :---------------------------------------------------------------------------------------: | -| 0.01[RPM] | 0 ~ 6,972 | 1,000 = Maximum speed limited to 10[RPM]
6,972 = Maximum speed limited to 69.72[RPM] | +| 0.01[RPM] | 0 ~ 3,591 | 1,000 = Maximum speed limited to 10[RPM]
3,591 = Maximum speed limited to 35.91[RPM] | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** diff --git a/docs/kr/dxl/y/ym080-230-a051-rh.md b/docs/kr/dxl/y/ym080-230-a051-rh.md index e990e5462..c17e36c97 100644 --- a/docs/kr/dxl/y/ym080-230-a051-rh.md +++ b/docs/kr/dxl/y/ym080-230-a051-rh.md @@ -63,8 +63,8 @@ product_group: dxl_y_a | 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | | 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | | 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,240 | 0 ~ 2,240 | 0.01 [A] | -| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 21,336,000 | 10 [rev/min²] | -| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 355,600 | 0.01 [rev/min] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 418,352 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 6,972 | 0.01 [rev/min] | | 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | | 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | | 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | diff --git a/docs/kr/dxl/y/ym080-230-a099-rh.md b/docs/kr/dxl/y/ym080-230-a099-rh.md index 8989842e8..6fd9b4d33 100644 --- a/docs/kr/dxl/y/ym080-230-a099-rh.md +++ b/docs/kr/dxl/y/ym080-230-a099-rh.md @@ -236,7 +236,7 @@ product_group: dxl_y_a | 단위 | 범위 | |:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 418,352 | +| 10 [rev/min²] | 0 ~ 215,515 | ### **[Velocity Limit(72)](#velocity-limit72)** @@ -244,7 +244,7 @@ product_group: dxl_y_a | 단위 | 범위 | 설명 | |:-------------:|:---------------------:|:-------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 6,972 | 1,000 = 10[RPM]을 최고속도로 제한
6,972 = 69.72[RPM]을 최고속도로 제한 | +| 0.01[RPM] | 0 ~ 3,591 | 1,000 = 10[RPM]을 최고속도로 제한
3,591 = 35.91[RPM]을 최고속도로 제한 | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)** diff --git a/docs/kr/dxl/y/ym080-230-r051-rh.md b/docs/kr/dxl/y/ym080-230-r051-rh.md index 565ab693c..d638bb985 100644 --- a/docs/kr/dxl/y/ym080-230-r051-rh.md +++ b/docs/kr/dxl/y/ym080-230-r051-rh.md @@ -63,8 +63,8 @@ product_group: dxl_y_r | 62 | 2 | 40032 | EEPROM | [Min Voltage Limit](#min-voltage-limit) | RW | 160 | 160 ~ 400 | 0.1 [V] | | 64 | 2 | 40033 | EEPROM | [PWM Limit](#pwm-limit) | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] | | 66 | 2 | 40034 | EEPROM | [Current Limit](#current-limit) | RW | 2,240 | 0 ~ 2,240 | 0.01 [A] | -| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 21,336,000 | 10 [rev/min²] | -| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 355,600 | 0.01 [rev/min] | +| 68 | 4 | 40035 | EEPROM | [Acceleration Limit](#acceleration-limit) | RW | 313 | 0 ~ 418,352 | 10 [rev/min²] | +| 72 | 4 | 40037 | EEPROM | [Velocity Limit](#velocity-limit) | RW | 3,921 | 0 ~ 6,972 | 0.01 [rev/min] | | 76 | 4 | 40039 | EEPROM | [Max Position Limit](#max-position-limit) | RW | 262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | | 84 | 4 | 40043 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,648 ~ 2,147,483,647 | 1 [pulse] | | 96 | 4 | 40049 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 1,045,576 | 1/R | diff --git a/docs/kr/dxl/y/ym080-230-r099-rh.md b/docs/kr/dxl/y/ym080-230-r099-rh.md index 64866106b..1697f2b6f 100644 --- a/docs/kr/dxl/y/ym080-230-r099-rh.md +++ b/docs/kr/dxl/y/ym080-230-r099-rh.md @@ -236,7 +236,7 @@ product_group: dxl_y_r | 단위 | 범위 | |:-------------:|:----------------:| -| 10 [rev/min²] | 0 ~ 418,352 | +| 10 [rev/min²] | 0 ~ 215,515 | ### **[Velocity Limit(72)](#velocity-limit72)** @@ -244,7 +244,7 @@ product_group: dxl_y_r | 단위 | 범위 | 설명 | |:-------------:|:---------------------:|:-------------------------------------------------------------------------------:| -| 0.01[RPM] | 0 ~ 6,972 | 1,000 = 10[RPM]을 최고속도로 제한
6,972 = 69.72[RPM]을 최고속도로 제한 | +| 0.01[RPM] | 0 ~ 3,591 | 1,000 = 10[RPM]을 최고속도로 제한
3,591 = 35.91[RPM]을 최고속도로 제한 | ### **[Max/Min Position Limit(76, 84)](#maxmin-position-limit76-84)**