RoadNarrows AX Series Dynamixel Declarations. More...

#include "rnr/rnrconfig.h"
#include "Dynamixel/Dynamixel.h"

Macros
#define	DYNA_MODEL_NUM_AX12 0x000c
	AX-12, AX-12+, AX-12A.

#define	DYNA_AX12_SPEC_WEIGHT_G 53.5
	weight (grams)

#define	DYNA_AX12_SPEC_WIDTH_MM 32.0
	width (mm)

#define	DYNA_AX12_SPEC_HEIGHT_MM 50.0
	height (mm)

#define	DYNA_AX12_SPEC_DEPTH_MM 40.0
	depth (mm)

#define	DYNA_AX12_SPEC_POS_RES_DEG 0.29
	resolution (degrees)

#define	DYNA_AX12_SPEC_GEAR_RATIO 254.0
	gear reduction ratio : 1

#define	DYNA_AX12_SPEC_STALL_TORQUE_KGF 15.0
	maximum stall torque (kgf) at optimal power

#define	DYNA_AX12_SPEC_MAX_SPEED_RPM 59.0
	maximum no-load speed (rpm) at optimal power

#define	DYNA_AX12_SPEC_ANGLE_MIN_DEG 0.0
	minimum rotation angle in servo mode (deg)

#define	DYNA_AX12_SPEC_ANGLE_MAX_DEG 300.0
	maximum rotation angle in servo mode (deg)

#define	DYNA_AX12_SPEC_MODES (DYNA_MODE_SERVO\|DYNA_MODE_CONTINUOUS)
	supported modes (see Dynamixel Operational Modes)

#define	DYNA_AX12_SPEC_HAS_360_POS false
	servo does not provide 360 ° position data

#define	DYNA_AX12_SPEC_TEMP_MIN_C (-5.0)
	minimum recommended operational temperature (C)

#define	DYNA_AX12_SPEC_TEMP_MAX_C 70.0
	maximum recommended operational temperature (C)

#define	DYNA_AX12_SPEC_VOLT_MIN_V 9.0
	minimum operational voltage (V)

#define	DYNA_AX12_SPEC_VOLT_MAX_V 12.0
	maximum operational voltage (V)

#define	DYNA_AX12_SPEC_CTL_METHOD (DYNA_CTL_METHOD_COMPLIANCE)
	position control method (see Dynamixel Internal Position Control Methods)

Detailed Description

RoadNarrows AX Series Dynamixel Declarations.

Author: Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Definition in file AX.h.

Macros