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archive |
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ym070-210-r099-rh |
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/docs/en/dxl/y/ym070-210-r099-rh/ |
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dxl_y_r |
{::options parse_block_html="true" /}
YM070-210-R099-RH
{% include en/dxl/y/first_warning.md %}
{% include en/dxl/y/specifications_y.md %}
{% include en/dxl/y/y_warning.md %}
{% include en/dxl/note_performance_graph.md %}
{% include en/dxl/y/y_control_table.md %}
Address | Size(Byte) | Name | Name | Access | Default | Range | Unit |
---|---|---|---|---|---|---|---|
0 | 2 | EEPROM | Model Number | R | 4,030 | - | - |
2 | 4 | EEPROM | Model Information | R | - | - | - |
6 | 1 | EEPROM | Firmware Version | R | - | - | - |
7 | 1 | EEPROM | ID | RW | 1 | 0 ~ 252 | - |
8 | 1 | RAM | Bus Watchdog | RW | 0 | 0 ~ 127 | - |
10 | 1 | EEPROM | Secondary(Shadow) ID | RW | 255 | 0 ~ 252 | - |
11 | 1 | EEPROM | Protocol Type | RW | 2 | 2 | - |
12 | 1 | EEPROM | Baud Rate (Bus) | RW | 1 | 0 ~ 9 | - |
13 | 1 | EEPROM | Return Delay Time | RW | 250 | 0 ~ 254 | 2 [us] |
15 | 1 | RAM | Status Return Level | RW | 2 | 0 ~ 2 | - |
16 | 1 | RAM | Registered Instruction | R | 0 | 0 ~ 1 | - |
32 | 1 | EEPROM | Drive Mode | RW | 0 | 0 ~ 77 | - |
33 | 1 | EEPROM | Operating Mode | RW | 3 | 0 ~ 3 | - |
34 | 1 | EEPROM | Startup Configuration | RW | 0 | 0 ~ 1 | - |
38 | 1 | EEPROM | Position Limit Threshold | RW | 0 | 0 ~ 32,767 | 1 [pulse] |
40 | 1 | EEPROM | In-Position Threshold | RW | 10 | 0 ~ 2,147,483,647 | 1 [pulse] |
44 | 1 | EEPROM | Following Error Threshold | RW | 0 | 0 ~ 2,147,483,647 | 1 [pulse] |
48 | 4 | EEPROM | Moving Threshold | RW | 10 | 0 ~ 2,147,483,647 | 5 [pulse/ms] |
52 | 4 | EEPROM | Homing Offset | RW | 0 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
56 | 4 | EEPROM | Inverter Temperature Limit | RW | 80 | 0 ~ 100 | 1 [°C] |
57 | 2 | EEPROM | Motor Temperature Limit | RW | 60 | 0 ~ 100 | 1 [°C] |
60 | 2 | EEPROM | Max Voltage Limit | RW | 320 | 240 ~ 400 | 0.1 [V] |
62 | 2 | EEPROM | Min Voltage Limit | RW | 160 | 160 ~ 400 | 0.1 [V] |
64 | 2 | EEPROM | PWM Limit | RW | 1,000 | 0 ~ 1,000 | 0.1 [%] |
66 | 2 | EEPROM | Current Limit | RW | 2,080 | 0 ~ 2,080 | 0.01 [A] |
68 | 4 | EEPROM | Acceleration Limit | RW | 161 | 0 ~ 389,090 | 10 [rev/min²] |
72 | 4 | EEPROM | Velocity Limit | RW | 2,020 | 0 ~ 6,486 | 0.01 [rev/min] |
76 | 4 | EEPROM | Max Position Limit | RW | 262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
84 | 4 | EEPROM | Min Position Limit | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
96 | 4 | EEPROM | Electronic GearRatio Numerator | RW | 99 | 1 ~ 1,045,576 | 1/R |
100 | 4 | EEPROM | Electronic GearRatio Denominator | RW | 1 | 1 ~ 1,045,576 | R |
104 | 2 | EEPROM | Safe Stop Time | RW | 200 | 0 ~ 32,767 | 1 [ms] |
106 | 2 | EEPROM | Brake Delay | RW | 0 | 0 ~ 32,767 | 1 [ms] |
108 | 2 | EEPROM | Goal Update Delay | RW | 0 | 0 ~ 32,767 | 1 [ms] |
110 | 1 | EEPROM | Overexcitation Voltage | RW | 100 | 0 ~ 100 | 1 [%] |
111 | 1 | EEPROM | Normal Excitation Voltage | RW | 0 | 0 ~ 100 | 1 [%] |
112 | 2 | EEPROM | Overexcitation Time | RW | 0 | 0 ~ 32,767 | 1 [ms] |
132 | 2 | EEPROM | Present Velocity LPF Frequency | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
134 | 2 | EEPROM | Goal Current LPF Frequency | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
136 | 2 | EEPROM | Position FF LPF Time | RW | 0 | 0 ~ 512 | 0.2 [ms] |
138 | 2 | EEPROM | Velocity FF LPF Time | RW | 0 | 0 ~ 512 | 0.2 [ms] |
152 | 1 | RAM | Controller State | R | - | - | - |
153 | 1 | RAM | Error Code | R | - | - | - |
154 | 1 | RAM | Error Code History 1 | R | - | - | - |
155 | 1 | RAM | Error Code History 2 | R | - | - | - |
... | ... | ... | ... | ... | ... | ... | ... |
168 | 1 | RAM | Error Code History 15 | R | - | - | - |
169 | 1 | RAM | Error Code History 16 | R | - | - | - |
170 | 1 | RAM | Hybrid Save | RW | 0 | 0 ~ 2 | - |
212 | 4 | Hybrid | Velocity I Gain | RW | 2,446,559 | 0 ~ 2,147,483,647 | - |
216 | 4 | Hybrid | Velocity P Gain | RW | 24,778 | 0 ~ 2,147,483,647 | - |
220 | 4 | Hybrid | Velocity FF Gain | RW | 0 | 0 ~ 2,147,483,647 | - |
224 | 4 | Hybrid | Position D Gain | RW | 9,090 | 0 ~ 2,147,483,647 | - |
228 | 4 | Hybrid | Position I Gain | RW | 0 | 0 ~ 2,147,483,647 | - |
232 | 4 | Hybrid | Position P Gain | RW | 6,283,185 | 0 ~ 2,147,483,647 | - |
236 | 4 | Hybrid | Position FF Gain | RW | 0 | 0 ~ 2,147,483,647 | - |
240 | 4 | Hybrid | Profile Acceleration | RW | 161 | 0 ~ Acceleration Limit(68) | 10 [rev/min²] |
244 | 4 | Hybrid | Profile Velocity | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
248 | 4 | Hybrid | Profile Acceleration Time | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
252 | 4 | Hybrid | Profile Time | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
256 | 2 | EEPROM | Indirect Address 1 | RW | 634 | 0 ~ 919 | - |
258 | 2 | EEPROM | Indirect Address 2 | RW | 635 | 0 ~ 919 | - |
... | ... | ... | ... | ... | ... | ... | ... |
508 | 2 | EEPROM | Indirect Address 127 | RW | 760 | 0 ~ 919 | - |
510 | 2 | EEPROM | Indirect Address 128 | RW | 761 | 0 ~ 919 | - |
512 | 1 | RAM | Torque Enable | RW | 0 | 0 ~ 1 | - |
513 | 1 | RAM | LED | RW | 0 | 0 ~ 1 | - |
516 | 2 | RAM | PWM Offset | RW | 0 | - Voltage(PWM)Limit(64) ~ Voltage(PWM)Limit(64) |
0.1 [%] |
518 | 2 | RAM | Current Offset | RW | 0 | - Current Limit(66) ~ Current Limit(66) |
0.01 [A] |
520 | 2 | RAM | Velocity Offset | RW | 0 | - Velocity Limit(72) ~ Velocity Limit(72) |
0.01 [rev/min] |
524 | 4 | RAM | Goal PWM | RW | 0 | - Voltage(PWM) Limit(64) ~ Voltage(PWM)Limit(64) |
0.1 [%] |
526 | 4 | RAM | Goal Current | RW | 0 | - Current Limit(66) ~ Current Limit(66) |
0.01 [A] |
528 | 4 | RAM | Goal Velocity | RW | 0 | - Velocity Limit(72) ~ Velocity Limit(72) |
0.01 [rev/min] |
532 | 4 | RAM | Goal Position | RW | 0 | Min Position Limit(84) ~ Max Position Limit(76) |
1 [pulse] |
541 | 1 | RAM | Moving Status | R | - | - | - |
542 | 2 | RAM | Realtime Tick | R | - | - | 1[ms] |
544 | 2 | RAM | Present PWM | R | - | - | 0.1 [%] |
546 | 2 | RAM | Present Current | R | - | - | 0.01 [A] |
548 | 4 | RAM | Present Velocity | R | - | - | 0.01 [rev/min] |
552 | 4 | RAM | Present Position | R | - | - | 1 [pulse] |
560 | 4 | RAM | Position Trajectory | R | - | - | 1 [pulse] |
564 | 4 | RAM | Velocity Trajectory | R | - | - | 1 [pulse/s] |
568 | 2 | RAM | Present Input Voltage | R | - | - | 0.01 [V] |
570 | 1 | RAM | Present Inverter Temperature | R | - | - | 1 [°C] |
571 | 1 | RAM | Present Motor Temperature | R | - | - | 1 [°C] |
634 | 1 | RAM | Indirect Data 1 | RW | 0 | 0 ~ 255 | - |
635 | 1 | RAM | Indirect Data 2 | RW | 0 | 0 ~ 255 | - |
... | ... | ... | ... | ... | ... | ... | ... |
760 | 1 | RAM | Indirect Data 127 | RW | 0 | 0 ~ 255 | - |
761 | 1 | RAM | Indirect Data 128 | RW | 0 | 0 ~ 255 | - |
919 | 1 | RAM | Backup Ready | R | - | - | - |
Caution: All data present in the EEPROM Area can only be modified when the value of Torque Enable (512) is '0'. {: .notice--warning}
{% include en/dxl/y/control_table_0_model_number.md %}
{% include en/dxl/y/control_table_2_model_information.md %}
{% include en/dxl/y/control_table_6_firmware_version.md %}
{% include en/dxl/y/control_table_7_id.md %}
{% include en/dxl/y/control_table_8_bus_watchdog.md %}
{% include en/dxl/y/control_table_10_secondary_id.md %}
{% include en/dxl/y/control_table_11_protocol_type.md %}
{% include en/dxl/y/control_table_12_baud_rate.md %}
{% include en/dxl/y/control_table_13_return_delay_time.md %}
{% include en/dxl/y/control_table_15_status_return_level.md %}
{% include en/dxl/y/control_table_16_registered_instruction.md %}
{% include en/dxl/y/control_table_32_drive_mode.md %}
{% include en/dxl/y/control_table_33_operating_mode.md %}
{% include en/dxl/y/control_table_34_startup_configuration.md %}
{% include en/dxl/y/control_table_38_position_limit_threshold.md %}
{% include en/dxl/y/control_table_40_in_position_threshold.md %}
{% include en/dxl/y/control_table_44_following_error_threshold.md %}
{% include en/dxl/y/control_table_48_moving_threshold.md %}
{% include en/dxl/y/control_table_52_homing_offset.md %}
{% include en/dxl/y/control_table_56_temperature_limit.md %}
{% include en/dxl/y/control_table_60_voltage_limit.md %}
{% include en/dxl/y/control_table_64_pwm_limit.md %}
{% include en/dxl/y/control_table_66_current_limit.md %}
{% include en/dxl/y/control_table_68_acceleration_limit.md %}
Unit | Range |
---|---|
10 [rev/min²] | 0 ~ 389,090 |
{% include en/dxl/y/control_table_72_velocity_limit.md %}
Unit | Range | Description |
---|---|---|
0.01[RPM] | 0 ~ 6,486 | 1,000 = Maximum speed limited to 10[RPM] 6,486 = Maximum speed limited to 64.86[RPM] |
{% include en/dxl/y/control_table_76_position_limit.md %}
{% include en/dxl/y/control_table_96_electronic_gear_ratio_numerator.md %}
{% include en/dxl/y/control_table_torque_on_off_timing_chart.md %}
{% include en/dxl/y/control_table_104_safe_stop_time.md %}
{% include en/dxl/y/control_table_106_brake_delay.md %}
{% include en/dxl/y/control_table_110_overexcitation_voltage.md %}
{% include en/dxl/y/control_table_132_present_velocity_lpf_frequency.md %}
{% include en/dxl/y/control_table_134_goal_current_lpf_frequency.md %}
{% include en/dxl/y/control_table_136_position_ff_lpf_time.md %}
{% include en/dxl/y/control_table_138_velocity_ff_lpf_time.md %}
{% include en/dxl/y/control_table_152_controller_state.md %}
{% include en/dxl/y/control_table_153_error_code.md %}
{% include en/dxl/y/control_table_error_code_history.md %}
{% include en/dxl/y/control_table_170_hybrid_save.md %}
{% include en/dxl/y/control_table_212_velocity_gain.md %}
{% include en/dxl/y/control_table_224_position_gain.md %}
{% include en/dxl/y/control_table_240_profile_acceleration.md %}
{% include en/dxl/y/control_table_248_profile_acceleration_time.md %}
{% include en/dxl/y/control_table_168_indirect.md %}
{% include en/dxl/y/control_table_512_torque_enable.md %}
{% include en/dxl/y/control_table_513_led.md %}
{% include en/dxl/y/control_table_516_pwm_current_veloctiy_offset.md %}
{% include en/dxl/y/control_table_524_goal_pwm.md %}
{% include en/dxl/y/control_table_526_goal_current.md %}
{% include en/dxl/y/control_table_528_goal_velocity.md %}
{% include en/dxl/y/control_table_532_goal_position.md %}
{% include en/dxl/y/control_table_541_moving_status.md %}
{% include en/dxl/y/control_table_542_realtime_tick.md %}
{% include en/dxl/y/control_table_544_present_pwm.md %}
{% include en/dxl/y/control_table_546_present_current.md %}
{% include en/dxl/y/control_table_548_present_velocity.md %}
{% include en/dxl/y/control_table_552_present_position.md %}
{% include en/dxl/y/control_table_560_position_trajectory.md %}
{% include en/dxl/y/control_table_564_velocity_trajectory.md %}
{% include en/dxl/y/control_table_568_present_input_voltage.md %}
{% include en/dxl/y/control_table_570_present_inverter_temperature.md %}
{% include en/dxl/y/control_table_571_present_motor_temperature.md %}
{% include en/dxl/y/control_table_919_backup_ready.md %}
{% include en/dxl/y/y_profile_description.md %}
Please reach out to us at contactus2@robotis.com for certifications that are not listed.
% include en/dxl/fcc_class_b.md %}
{% include en/dxl/y/connector_y070.md %}
{% include en/dxl/y/uart_connection_y.md %}
The pin configuration of the DYNAMIXEL-Y connector is shown below.
TBD
{% include en/dxl/download_center_notice.md %}
{% include en/dxl/y/clear_packet.md %}
{% include en/dxl/y/output_bearing_y_r.md %}
{% include en/dxl/common_link.md %}