Dynamixel  2.9.5
RoadNarrows Robotics Dynamixel Package
Macros
MX.h File Reference
Dynamixel Library » Dynamixel Library Interface Headers

RoadNarrows MX Series Dynamixel Declarations. More...

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

Go to the source code of this file.

Macros

#define DYNA_MODEL_NUM_MX12W   0x0168
 MX-12W.
 
#define DYNA_MODEL_NUM_MX28   0x001d
 MX-28.
 
#define DYNA_MODEL_NUM_MX64   0x0136
 MX-64T, MX-64R.
 
#define DYNA_MODEL_NUM_MX106   0x0140
 MX-106T, MX-106R.
 
#define DYNA_MX12W_SPEC_WEIGHT_G   54.6
 weight (grams)
 
#define DYNA_MX12W_SPEC_WIDTH_MM   32.0
 width (mm)
 
#define DYNA_MX12W_SPEC_HEIGHT_MM   50.0
 height (mm)
 
#define DYNA_MX12W_SPEC_DEPTH_MM   40.0
 depth (mm)
 
#define DYNA_MX12W_SPEC_POS_RES_DEG   0.088
 resolution (degrees)
 
#define DYNA_MX12W_SPEC_GEAR_RATIO   32.0
 gear reduction ratio : 1
 
#define DYNA_MX12W_SPEC_STALL_TORQUE_KGF   10.0
 maximum stall torque (kgf) at optimal power (RDK unknown as yet)
 
#define DYNA_MX12W_SPEC_MAX_SPEED_RPM   470.0
 maximum no-load speed (rpm) at optimal power
 
#define DYNA_MX12W_SPEC_ANGLE_MIN_DEG   0.0
 minimum rotation angle in servo mode (deg)
 
#define DYNA_MX12W_SPEC_ANGLE_MAX_DEG   360.0
 maximum rotation angle in servo mode (deg)
 
#define DYNA_MX12W_MODE_MULTI_TURN   0x04
 multi-turn mode
 
#define DYNA_MX12W_SPEC_MODES   (DYNA_MODE_SERVO|DYNA_MODE_CONTINUOUS)
 supported modes (see Dynamixel Operational Modes)
 
#define DYNA_MX12W_SPEC_HAS_360_POS   true
 servo does provide 360 ° position data
 
#define DYNA_MX12W_SPEC_TEMP_MIN_C   (-5.0)
 minimum recommended operational temperature (C)
 
#define DYNA_MX12W_SPEC_TEMP_MAX_C   80.0
 maximum recommended operational temperature (C)
 
#define DYNA_MX12W_SPEC_VOLT_MIN_V   10.0
 minimum operational voltage (V)
 
#define DYNA_MX12W_SPEC_VOLT_MAX_V   14.8
 maximum operational voltage (V)
 
#define DYNA_MX12W_SPEC_CTL_METHOD   DYNA_CTL_METHOD_PID
 position control method (see Dynamixel Internal Position Control Methods)
 
#define DYNA_MX12W_POS_MASK   0x0fff
 valid data mask
 
#define DYNA_MX12W_POS_MIN_RAW   0
 minimum raw angular position
 
#define DYNA_MX12W_POS_MAX_RAW   4095
 maximum raw angular position
 
#define DYNA_MX12W_POS_MODULO   (DYNA_MX12W_POS_MAX_RAW+1)
 servo position modulo [0-max]
 
#define DYNA_MX12W_POS_MIN_DEG   0.0
 minimum angular position
 
#define DYNA_MX12W_POS_MAX_DEG   360.0
 maximum angular position
 
#define DYNA_MX12W_POS_RES_DEG   ((double)DYNA_MX12W_POS_MAX_DEG/(double)DYNA_MX12W_POS_MAX_RAW)
 0.088 ° (servo mode) resolution
 
#define DYNA_MX12W_SPEED_RES_RPM   0.114
 rpm (servo mode) resolution
 
#define DYNA_MX28_ADDR_LIM_CW_MASK   0x0fff
 valid data mask
 
#define DYNA_MX28_ADDR_LIM_CCW_MASK   0x0fff
 valid data mask
 
#define DYNA_MX28_ADDR_GOAL_POS_MASK   0x0fff
 valid data mask
 
#define DYNA_MX28_ADDR_CUR_POS_MASK   0x0fff
 valid data mask
 
#define DYNA_MX28_SPEC_WEIGHT_G   72.0
 weight (grams)
 
#define DYNA_MX28_SPEC_WIDTH_MM   35.6
 width (mm)
 
#define DYNA_MX28_SPEC_HEIGHT_MM   50.6
 height (mm)
 
#define DYNA_MX28_SPEC_DEPTH_MM   35.5
 depth (mm)
 
#define DYNA_MX28_SPEC_POS_RES_DEG   0.088
 resolution (degrees)
 
#define DYNA_MX28_SPEC_GEAR_RATIO   193.0
 gear reduction ratio : 1
 
#define DYNA_MX28_SPEC_STALL_TORQUE_KGF   24.0
 maximum stall torque (kgf) at optimal power
 
#define DYNA_MX28_SPEC_MAX_SPEED_RPM   55.0
 maximum no-load speed (rpm) at optimal power
 
#define DYNA_MX28_SPEC_ANGLE_MIN_DEG   0.0
 minimum rotation angle in servo mode (deg)
 
#define DYNA_MX28_SPEC_ANGLE_MAX_DEG   360.0
 maximum rotation angle in servo mode (deg)
 
#define DYNA_MX28_SPEC_MODES   (DYNA_MODE_SERVO|DYNA_MODE_CONTINUOUS)
 supported modes (see Dynamixel Operational Modes)
 
#define DYNA_MX28_SPEC_HAS_360_POS   true
 servo does provide 360 ° position data
 
#define DYNA_MX28_SPEC_TEMP_MIN_C   (-5.0)
 minimum recommended operational temperature (C)
 
#define DYNA_MX28_SPEC_TEMP_MAX_C   80.0
 maximum recommended operational temperature (C)
 
#define DYNA_MX28_SPEC_VOLT_MIN_V   9.0
 minimum operational voltage (V)
 
#define DYNA_MX28_SPEC_VOLT_MAX_V   16.8
 maximum operational voltage (V)
 
#define DYNA_MX28_SPEC_CTL_METHOD   DYNA_CTL_METHOD_PID
 position control method (see Dynamixel Internal Position Control Methods)
 
#define DYNA_MX28_POS_MASK   0x0fff
 valid data mask
 
#define DYNA_MX28_POS_MIN_RAW   0
 minimum raw angular position
 
#define DYNA_MX28_POS_MAX_RAW   4095
 maximum raw angular position
 
#define DYNA_MX28_POS_MODULO   (DYNA_MX28_POS_MAX_RAW+1)
 servo position modulo [0-max]
 
#define DYNA_MX28_POS_MIN_DEG   0.0
 minimum angular position
 
#define DYNA_MX28_POS_MAX_DEG   360.0
 maximum angular position
 
#define DYNA_MX28_POS_RES_DEG   ((double)DYNA_MX28_POS_MAX_DEG/(double)DYNA_MX28_POS_MAX_RAW)
 0.088 ° (servo mode) resolution
 
#define DYNA_MX28_SPEED_RES_RPM   0.114
 rpm (servo mode) resolution
 
#define DYNA_MX28_ADDR_LIM_CW_MASK   0x0fff
 valid data mask
 
#define DYNA_MX28_ADDR_LIM_CCW_MASK   0x0fff
 valid data mask
 
#define DYNA_MX28_ADDR_GOAL_POS_MASK   0x0fff
 valid data mask
 
#define DYNA_MX28_ADDR_CUR_POS_MASK   0x0fff
 valid data mask
 
#define DYNA_MX64_SPEC_WEIGHT_G   126.0
 weight (grams)
 
#define DYNA_MX64_SPEC_WIDTH_MM   40.2
 width (mm)
 
#define DYNA_MX64_SPEC_HEIGHT_MM   61.1
 height (mm)
 
#define DYNA_MX64_SPEC_DEPTH_MM   41.0
 depth (mm)
 
#define DYNA_MX64_SPEC_POS_RES_DEG   0.088
 resolution (degrees)
 
#define DYNA_MX64_SPEC_GEAR_RATIO   200.0
 gear reduction ratio : 1
 
#define DYNA_MX64_SPEC_STALL_TORQUE_KGF   74.4
 maximum stall torque (kgf-cm) at optimal power
 
#define DYNA_MX64_SPEC_MAX_SPEED_RPM   78.0
 maximum no-load speed (rpm) at optimal power
 
#define DYNA_MX64_SPEC_ANGLE_MIN_DEG   0.0
 minimum rotation angle in servo mode (deg)
 
#define DYNA_MX64_SPEC_ANGLE_MAX_DEG   360.0
 maximum rotation angle in servo mode (deg)
 
#define DYNA_MX64_SPEC_MODES   (DYNA_MODE_SERVO|DYNA_MODE_CONTINUOUS)
 supported modes (see Dynamixel Operational Modes)
 
#define DYNA_MX64_SPEC_HAS_360_POS   true
 servo does provide 360 ° position data
 
#define DYNA_MX64_SPEC_TEMP_MIN_C   (-5.0)
 minimum recommended operational temperature (C)
 
#define DYNA_MX64_SPEC_TEMP_MAX_C   80.0
 maximum recommended operational temperature (C)
 
#define DYNA_MX64_SPEC_VOLT_MIN_V   10.0
 minimum operational voltage (V)
 
#define DYNA_MX64_SPEC_VOLT_MAX_V   14.8
 maximum operational voltage (V)
 
#define DYNA_MX64_SPEC_CTL_METHOD   DYNA_CTL_METHOD_PID
 position control method (see Dynamixel Internal Position Control Methods)
 
#define DYNA_MX64_POS_MASK   0x0fff
 valid data mask
 
#define DYNA_MX64_POS_MIN_RAW   0
 minimum raw angular position
 
#define DYNA_MX64_POS_MAX_RAW   4095
 maximum raw angular position
 
#define DYNA_MX64_POS_MODULO   (DYNA_MX64_POS_MAX_RAW+1)
 servo position modulo [0-max]
 
#define DYNA_MX64_POS_MIN_DEG   0.0
 minimum angular position
 
#define DYNA_MX64_POS_MAX_DEG   360.0
 maximum angular position
 
#define DYNA_MX64_POS_RES_DEG   ((double)DYNA_MX64_POS_MAX_DEG/(double)DYNA_MX64_POS_MAX_RAW)
 0.088 ° (servo mode) resolution
 
#define DYNA_MX64_SPEED_RES_RPM   0.114
 rpm (servo mode) resolution
 
#define DYNA_MX64_ADDR_LIM_CW_MASK   0x0fff
 valid data mask
 
#define DYNA_MX64_ADDR_LIM_CCW_MASK   0x0fff
 valid data mask
 
#define DYNA_MX64_ADDR_GOAL_POS_MASK   0x0fff
 valid data mask
 
#define DYNA_MX64_ADDR_CUR_POS_MASK   0x0fff
 valid data mask
 
#define DYNA_MX106_SPEC_WEIGHT_G   153.0
 weight (grams)
 
#define DYNA_MX106_SPEC_WIDTH_MM   40.2
 width (mm)
 
#define DYNA_MX106_SPEC_HEIGHT_MM   61.1
 height (mm)
 
#define DYNA_MX106_SPEC_DEPTH_MM   46.0
 depth (mm)
 
#define DYNA_MX106_SPEC_POS_RES_DEG   0.088
 resolution (degrees)
 
#define DYNA_MX106_SPEC_GEAR_RATIO   225.0
 gear reduction ratio : 1
 
#define DYNA_MX106_SPEC_STALL_TORQUE_NM   8.4
 maximum stall torque (newton-meter) at optimal power
 
#define DYNA_MX106_SPEC_MAX_SPEED_RPM   45.0
 maximum no-load speed (rpm) at optimal power
 
#define DYNA_MX106_SPEC_ANGLE_MIN_DEG   0.0
 minimum rotation angle in servo mode (deg)
 
#define DYNA_MX106_SPEC_ANGLE_MAX_DEG   360.0
 maximum rotation angle in servo mode (deg)
 
#define DYNA_MX106_SPEC_MODES   (DYNA_MODE_SERVO|DYNA_MODE_CONTINUOUS)
 supported modes (see Dynamixel Operational Modes)
 
#define DYNA_MX106_SPEC_HAS_360_POS   true
 servo does provide 360 ° position data
 
#define DYNA_MX106_SPEC_TEMP_MIN_C   (-5.0)
 minimum recommended operational temperature (C)
 
#define DYNA_MX106_SPEC_TEMP_MAX_C   80.0
 maximum recommended operational temperature (C)
 
#define DYNA_MX106_SPEC_VOLT_MIN_V   10.0
 minimum operational voltage (V)
 
#define DYNA_MX106_SPEC_VOLT_MAX_V   14.8
 maximum operational voltage (V)
 
#define DYNA_MX106_SPEC_CTL_METHOD   DYNA_CTL_METHOD_PID
 position control method (see Dynamixel Internal Position Control Methods)
 
#define DYNA_MX106_POS_MASK   0x0fff
 valid data mask
 
#define DYNA_MX106_POS_MIN_RAW   0
 minimum raw angular position
 
#define DYNA_MX106_POS_MAX_RAW   4095
 maximum raw angular position
 
#define DYNA_MX106_POS_MODULO   (DYNA_MX106_POS_MAX_RAW+1)
 servo position modulo [0-max]
 
#define DYNA_MX106_POS_MIN_DEG   0.0
 minimum angular position
 
#define DYNA_MX106_POS_MAX_DEG   360.0
 maximum angular position
 
#define DYNA_MX106_POS_RES_DEG   ((double)DYNA_MX106_POS_MAX_DEG/(double)DYNA_MX106_POS_MAX_RAW)
 0.088 ° (servo mode) resolution
 
#define DYNA_MX106_SPEED_RES_RPM   0.114
 rpm (servo mode) resolution
 
#define DYNA_MX106_ADDR_LIM_CW_MASK   0x0fff
 valid data mask
 
#define DYNA_MX106_ADDR_LIM_CCW_MASK   0x0fff
 valid data mask
 
#define DYNA_MX106_ADDR_GOAL_POS_MASK   0x0fff
 valid data mask
 
#define DYNA_MX106_ADDR_CUR_POS_MASK   0x0fff
 valid data mask
 

Detailed Description

RoadNarrows MX Series Dynamixel Declarations.

LastChangedDate
2015-03-13 13:28:02 -0600 (Fri, 13 Mar 2015)
Rev
3890
Note
Only deltas from base values found in Dynamixel.h are defined here.
Author
Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)
Copyright
© 2011-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file MX.h.