382 lines
5.7 KiB
JSON
382 lines
5.7 KiB
JSON
{
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"Protocol_1": {
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"Control_Table": {
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"Model_Number": [
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0,
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2
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],
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"Firmware_Version": [
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2,
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1
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],
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"ID": [
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3,
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1
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],
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"Baud_Rate": [
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4,
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1
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],
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"Return_Delay_Time": [
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5,
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1
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],
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"CW_Angle_Limit": [
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6,
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2
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],
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"CCW_Angle_Limit": [
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8,
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2
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],
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"Temperature_Limit": [
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11,
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1
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],
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"Min_Voltage_Limit": [
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12,
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1
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],
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"Max_Voltage_Limit": [
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13,
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1
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],
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"Max_Torque": [
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14,
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2
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],
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"Status_Return_Level": [
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16,
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1
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],
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"Alarm_LED": [
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17,
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1
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],
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"Shutdown": [
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18,
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1
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],
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"Multi_Turn_Offset": [
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20,
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2
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],
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"Resolution_Divider": [
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22,
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1
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],
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"Torque_Enable": [
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24,
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1
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],
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"LED": [
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25,
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1
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],
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"D_Gain": [
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26,
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1
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],
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"I_Gain": [
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27,
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1
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],
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"P_Gain": [
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28,
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1
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],
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"Goal_Position": [
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30,
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2
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],
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"Moving_Speed": [
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32,
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2
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],
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"Torque_Limit": [
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34,
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2
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],
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"Present_Position": [
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36,
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2
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],
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"Present_Speed": [
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38,
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2
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],
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"Present_Load": [
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40,
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2
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],
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"Present_Voltage": [
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42,
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1
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],
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"Present_Temperature": [
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43,
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1
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],
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"Registered": [
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44,
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1
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],
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"Moving": [
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46,
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1
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],
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"Lock": [
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47,
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1
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],
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"Punch": [
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48,
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2
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],
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"Realtime_Tick": [
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50,
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2
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],
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"Current": [
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68,
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2
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],
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"Torque_Ctrl_Mode_Enable": [
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70,
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1
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],
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"Goal_Torque": [
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71,
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2
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],
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"Goal_Acceleration": [
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73,
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1
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]
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},
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"Values": {
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"Min_Position": 0,
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"Max_Position": 4095,
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"Max_Angle": 360
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}
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},
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"Protocol_2": {
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"Control_Table": {
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"Control_Table": {
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"Model_Number": [
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0,
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2
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],
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"Model_Information": [
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2,
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4
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],
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"Firmware_Version": [
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6,
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1
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],
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"ID": [
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7,
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1
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],
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"Baud_Rate": [
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8,
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1
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],
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"Return_Delay_Time": [
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9,
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1
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],
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"Drive_Mode": [
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10,
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1
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],
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"Operating_Mode": [
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11,
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1
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],
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"Secondary_ID": [
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12,
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1
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],
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"Protocol_Type": [
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13,
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1
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],
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"Homing_Offset": [
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20,
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4
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],
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"Moving_Threshold": [
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24,
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4
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],
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"Temperature_Limit": [
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31,
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1
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],
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"Max_Voltage_Limit": [
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32,
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2
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],
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"Min_Voltage_Limit": [
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34,
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2
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],
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"PWM_Limit": [
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36,
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2
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],
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"Current_Limit": [
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38,
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2
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],
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"Acceleration_Limit": [
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40,
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4
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],
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"Velocity_Limit": [
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44,
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4
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],
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"Max_Position_Limit": [
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48,
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4
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],
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"Min_Position_Limit": [
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52,
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4
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],
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"Shutdown": [
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63,
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1
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],
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"Torque_Enable": [
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64,
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1
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],
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"LED": [
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65,
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1
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],
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"Return_Status_Level": [
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68,
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1
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],
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"Registered_Instruction": [
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69,
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1
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],
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"Hardware_Error_Status": [
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70,
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1
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],
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"Velocity_I_Gain": [
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76,
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2
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],
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"Velocity_P_Gain": [
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78,
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2
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],
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"Position_D_Gain": [
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80,
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2
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],
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"Position_I_Gain": [
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82,
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2
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],
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"Position_P_Gain": [
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84,
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2
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],
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"Feedforward_2nd_Gain": [
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88,
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2
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],
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"Feedforward_1st_Gain": [
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90,
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2
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],
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"BUS_Watchdog": [
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98,
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1
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],
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"Goal_PWM": [
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100,
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2
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],
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"Goal_Current": [
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102,
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2
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],
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"Goal_Velocity": [
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104,
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4
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],
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"Profile_Acceleration": [
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108,
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4
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],
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"Profile_Velocity": [
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112,
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4
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],
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"Goal_Position": [
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116,
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4
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],
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"Realtime_Tick": [
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120,
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2
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],
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"Moving": [
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122,
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1
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],
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"Moving_Status": [
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123,
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1
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],
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"Present_PWM": [
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124,
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2
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],
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"Present_Current": [
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126,
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2
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],
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"Present_Velocity": [
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128,
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4
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],
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"Present_Position": [
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132,
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4
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],
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"Velocity_Trajectory": [
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136,
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4
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],
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"Position_Trajectory": [
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140,
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4
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],
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"Present_Input_Voltage": [
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144,
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2
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],
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"Present_Temperature": [
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146,
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1
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]
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}
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},
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"Values:": {
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"Min_Position": 0,
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"Max_Position": 4095,
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"Max_Angle": 360
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}
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}
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} |