Merge pull request #1658 from ROBOTIS-Yang/Dynamixel-Y

Release DY en
ROBOTIS-GIT · Mar 25, 2024 · 90fdb96 · 90fdb96
2 parents 4b59dde + a4aa904
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diff --git a/_data/navigation.yml b/_data/navigation.yml
@@ -5,26 +5,26 @@ main:
     url: /dxl/
     urlkr: /dxl/
     children:
-    - #title: "Y Series"
+    - title: "Y Series"
       titlekr: "Y 시리즈"
       url: /dxl/y/
       children:
-      - #title: "YM070-210-M001-RH"
+      - title: "YM070-210-M001-RH"
         titlekr: "YM070-210-M001-RH"
         url: /dxl/y/ym070-210-m001-rh/
-      - #title: "YM070-210-R051-RH"
+      - title: "YM070-210-R051-RH"
         titlekr: "YM070-210-R051-RH"
         url: /dxl/y/ym070-210-r051-rh/
-      - #title: "YM070-210-R099-RH"
+      - title: "YM070-210-R099-RH"
         titlekr: "YM070-210-R099-RH"
         url: /dxl/y/ym070-210-r099-rh/
-      - #title: "YM080-230-M001-RH"
+      - title: "YM080-230-M001-RH"
         titlekr: "YM080-230-M001-RH"
         url: /dxl/y/ym080-230-m001-rh/
-      - #title: "YM080-230-R051-RH"
+      - title: "YM080-230-R051-RH"
         titlekr: "YM080-230-R051-RH"
         url: /dxl/y/ym080-230-r051-rh/
-      - #title: "YM080-230-R099-RH"
+      - title: "YM080-230-R099-RH"
         titlekr: "YM080-230-R099-RH"
         url: /dxl/y/ym080-230-r099-rh/
     - title: "P Series"
@@ -815,18 +815,18 @@ main:
         url: /faq/general
 
 all-dynamixel:
-  - #title: "Y Series"
+  - title: "Y Series"
     titlekr: "Y 시리즈"
-    #url: /dxl/#y-series
+    url: /dxl/#y-series
     urlkr: /dxl/#y-시리즈
     children:
-      - #title: "YM070 Series"
+      - title: "YM070 Series"
         titlekr: "YM070 시리즈"
-        #url: /dxl/#ym070-series
+        url: /dxl/#ym070-series
         urlkr: /dxl/#ym070-시리즈
-      - #title: "YM080 Series"
+      - title: "YM080 Series"
         titlekr: "YM080 시리즈"
-        #url: /dxl/#ym080-series
+        url: /dxl/#ym080-series
         urlkr: /dxl/#ym080-시리즈
   - title: "P Series"
     titlekr: "P 시리즈"

diff --git a/_includes/en/dxl/y/control_table_153_error_code.md b/_includes/en/dxl/y/control_table_153_error_code.md
@@ -1,25 +1,25 @@
 This represents the code for the issue occurring in the device. The list of errors that may occur in the device is as follows:
 
-| Value |           Label              | Torque ON | *Hold | Error Clear | Description                                                                |
-|:-----:|:----------------------------:|:---------:|:-----:|:-----------:|:---------------------------------------------------------------------------|
-| 0     | No Error                     | -         | -     | -           | No error                                                                   |
-| 1     | Over Voltage Error           | N         | -     | Y           | Device supply voltage exceeds the [Max Voltage Limit(60)]                  |
-| 2     | Low Voltage Error            | N         | -     | Y           | Device supply voltage exceeds the [Min Voltage Limit(62)]                  |
-| 3     | Inverter Overheating Error   | N         | -     | Y           | The inverter temperature has exceeded the [Inverter Temperature Limit(56)] |
-| 4     | Motor Overheating Error      | N         | -     | Y           | The motor temperature has exceeded the [Motor Temperature Limit(57)].      |
-| 5     | Overload Error               | N         | -     | Y           | Operating current exceeding rated current for an extended duration         |
-| 7     | Inverter Error               | N         | -     | N           | An issue has occurred with the inverter                                    |
-| 9     | Battery Warning              | Y         | N     | N           | Low Multi-Turn battery voltage. Replacement recommended                    |
-| 10    | Battery Error                | N         | -     | N           | Multi-Turn battery voltage is too low, causing issues                      |
-| 11    | Magnet Error                 | N         | -     | N           | Multi-Turn position lost. Multi-Turn reset required                        |
-| 12    | Multi-Turn Error             | N         | -     | N           | An issue has occurred with the Multi-Turn IC                               |
-| 13    | Encoder Error                | N         | -     | N           | An issue has occurred with the Encoder IC                                  |
-| 14    | Hall Sensor Error            | N         | -     | N           | An issue has occurred with the Hall Sensor                                 |
-| 15    | Calibration Error            | N         | -     | N           | Cannot find calibration Data                                               |
-| 17    | Following Error              | Y         | Y     | Y           | Position control error exceeds the [Following Error Threshold(44)]         |
-| 18    | Bus Watchdog Error           | Y         | Y     | Y           | An issue has occurred with the Bus Watchdog                                |
-| 19    | Over Speed Error             | Y         | Y     | Y           | Rotates at a speed of 120% or more than the [Velocity Limit(72)]           |
-| 20    | Position Limit Reached Error | Y         | Y     | Y           | In position control mode, the current position has moved<br />beyond the Max/Min [Position Limit(76, 84)] + [Position Limit Threshold(38)] range. |
+| Value     |           Label              | Torque ON | *Hold | Error Clear | Description                                                                |
+|:---------:|:----------------------------:|:---------:|:-----:|:-----------:|:---------------------------------------------------------------------------|
+| 0 (0x00)  | No Error                     | -         | -     | -           | No error                                                                   |
+| 1 (0x01)  | Over Voltage Error           | N         | -     | Y           | Device supply voltage exceeds the [Max Voltage Limit(60)]                  |
+| 2 (0x02)  | Low Voltage Error            | N         | -     | Y           | Device supply voltage exceeds the [Min Voltage Limit(62)]                  |
+| 3 (0x03)  | Inverter Overheating Error   | N         | -     | Y           | The inverter temperature has exceeded the [Inverter Temperature Limit(56)] |
+| 4 (0x04)  | Motor Overheating Error      | N         | -     | Y           | The motor temperature has exceeded the [Motor Temperature Limit(57)].      |
+| 5 (0x05)  | Overload Error               | N         | -     | Y           | Operating current exceeding rated current for an extended duration         |
+| 7 (0x07)  | Inverter Error               | N         | -     | N           | An issue has occurred with the inverter                                    |
+| 9 (0x09)  | Battery Warning              | Y         | N     | N           | Low Multi-Turn battery voltage. Replacement recommended                    |
+| 10 (0x0A) | Battery Error                | N         | -     | N           | Multi-Turn battery voltage is too low, causing issues                      |
+| 11 (0x0B) | Magnet Error                 | N         | -     | N           | Multi-Turn position lost. Multi-Turn reset required                        |
+| 12 (0x0C) | Multi-Turn Error             | N         | -     | N           | An issue has occurred with the Multi-Turn IC                               |
+| 13 (0x0D) | Encoder Error                | N         | -     | N           | An issue has occurred with the Encoder IC                                  |
+| 14 (0x0E) | Hall Sensor Error            | N         | -     | N           | An issue has occurred with the Hall Sensor                                 |
+| 15 (0x0F) | Calibration Error            | N         | -     | N           | Cannot find calibration Data                                               |
+| 17 (0x11) | Following Error              | Y         | Y     | Y           | Position control error exceeds the [Following Error Threshold(44)]         |
+| 18 (0x12) | Bus Watchdog Error           | Y         | Y     | Y           | An issue has occurred with the Bus Watchdog                                |
+| 19 (0x13) | Over Speed Error             | Y         | Y     | Y           | Rotates at a speed of 120% or more than the [Velocity Limit(72)]           |
+| 20 (0x14) | Position Limit Reached Error | Y         | Y     | Y           | In position control mode, the current position has moved<br />beyond the Max/Min [Position Limit(76, 84)] + [Position Limit Threshold(38)] range. |
 
 
 **Note** : *Hold status indicates that Goal Value Write is not possible while Torque is On. In position and velocity control modes, the current position is maintained after deceleration and stop, while in current control mode, it is in Dynamic Brake mode.

diff --git a/_includes/en/dxl/y/control_table_38_position_limit_threshold.md b/_includes/en/dxl/y/control_table_38_position_limit_threshold.md
@@ -1,4 +1,4 @@
-The threshold for determining the Position Limit Reached Error. If the value of the [Present Position(552)] is outside the range of ([Max Position Limit(76)] + Position Limit Threshold(38)) ~ ([Min Position Limit(84)] -  Position Limit Threshold(38)), a Position Limit Reached Error occurs.
+The threshold for determining the Position Limit Reached Error. If the value of the [Present Position(552)] is outside the range of ([Max Position Limit(76)] + Position Limit Threshold(38)) ~ ([Min Position Limit(84)] -  Position Limit Threshold(38)), a Position Limit Reached Error occurs. If this value is ‘0’, Position Limit Reached Error is disabled.
 
 |   Unit    |    Range   |
 |:---------:|:----------:|

diff --git a/_includes/en/dxl/y/control_table_52_homing_offset.md b/_includes/en/dxl/y/control_table_52_homing_offset.md
@@ -2,6 +2,6 @@ Used to adjust the zero position of the servo. This value is added to the [Prese
 Present Position = Actual Position + Homing offset(52)
 
 
-|   Unit    |       Range       |
-|:---------:|:-----------------:|
-| 1 [Pulse] | 0 ~ 2,147,483,647 |
+|   Unit    |       Range                    |
+|:---------:|:------------------------------:|
+| 1 [Pulse] | -2,147,483,647 ~ 2,147,483,647 |
diff --git a/_includes/en/dxl/y/control_table_66_current_limit.md b/_includes/en/dxl/y/control_table_66_current_limit.md
@@ -1,9 +1,9 @@
 This is the limit value of the target current value. The [Goal Current(526)] cannot be set to a value greater than the Current Limit(66). If a value greater than this limit is set, the Status Packet transmits a Data Limit Error through the Error field.
 
 
-| Unit     | Range     | Description                                                                |
-| :------: | :-------: | :------------------------------------------------------------------------: |
-| 0.01 [A] | 0 ~ 2,000 | 1,000 = 10[A], 10[A] current limit<br />2,000 = 20[A], 20[A] current limit |
+| Unit     | Range     | Description                                                                    |
+| :------: | :-------: | :----------------------------------------------------------------------------: |
+| 0.01 [A] | 0 ~ 2,080 | 1,000 = 10[A], 10[A] current limit<br />2,080 = 20.8[A], 20.8[A] current limit |
 
 **Note** : If you continuously apply a current to the motor exceeding the rated 10[A], an Overload Error will occur. Only use currents exceeding the rated value for momentary periods.
 {: .notice}
diff --git a/_includes/kr/dxl/y/control_table_104_safe_stop_time.md b/_includes/kr/dxl/y/control_table_104_safe_stop_time.md
@@ -1,4 +1,4 @@
-[Torque Enable(512)]의 값을 ‘1’(Torque ON)에서 ‘0’(Torque OFF)으로 변경하면 장치는 동작을 멈추고 Inverter에 공급되는 신호를 차단합니다.  
+[Torque Enable(512)]의 값을 ‘1’(Torque ON)에서 ‘0’(Torque OFF)으로 변경하면 장치는 동작을 멈추고 인버터에 공급되는 신호를 차단합니다.  
 장치가 회전 중이라면, 파손 방지를 위해 Safe Stop Time(104) 시간 동안 회전 속도가 0이 되도록 제어합니다. 
 
 | 단위 |   범위      | 초기 값 |

diff --git a/_includes/kr/dxl/y/control_table_152_controller_state.md b/_includes/kr/dxl/y/control_table_152_controller_state.md
@@ -4,7 +4,7 @@
 |:--:|:-------------------:|:-----------------------------------------------------------|
 | 0  | Start               | 장치에 전원이 인가됨                                         |
 | 1  | Init System         | 장치 초기화 진행 중                                          |
-| 2  | Inverter OFF        | Torque OFF 상태. Inverter가 OFF되 있음                       |
+| 2  | Inverter OFF        | Torque OFF 상태. 인버터가 OFF되어 있음                        |
 | 3  | Dynamic Brake       | Torque OFF 상태. Dynamic Brake가 활성화됨                    |
 | 4  | Process Torque ON   | Torque ON 작업을 진행 중                                     |
 | 5  | Running             | Torque ON 상태                                              |

diff --git a/_includes/kr/dxl/y/control_table_153_error_code.md b/_includes/kr/dxl/y/control_table_153_error_code.md
@@ -1,25 +1,25 @@
 장치에 발생한 문제에 대한 코드를 나타냅니다. 장치에 발생하는 에러 목록은 아래와 같습니다.
 
-| 값 |           이름               | Torque ON  | *Hold | 에러헤제 | 설명                                                          |
-|:--:|:----------------------------:|:---------:|:-----:|:--------:|:-------------------------------------------------------------|
-| 0  | No Error                     | -         | -     | -        | 에러 없음                                                     |
-| 1  | Over Voltage Error           | N         | -     | Y        | 장치 인가 전압이 [Max Voltage Limit(60)] 범위를 넘음            |
-| 2  | Low Voltage Error            | N         | -     | Y        | 장치 인가 전압이 [Min Voltage Limit(62)] 범위를 넘음            |
-| 3  | Inverter Overheating Error   | N         | -     | Y        | Inverter의 온도가 [Inverter Temperature Limit(56)]을 넘음      |
-| 4  | Motor Overheating Error      | N         | -     | Y        | Motor의 온도가 [Motor Temperature Limit(57)]을 넘음            |
-| 5  | Overload Error               | N         | -     | Y        | 정격 전류를 초과하는 전류를 장시간 사용                          |
-| 7  | Inverter Error               | N         | -     | N        | Inverter에 문제가 발생함                                       |
-| 9  | Battery Warning              | Y         | N     | N        | Multi-Turn 배터리 전압이 낮음. 교체 권장                        |
-| 10 | Battery Error                | N         | -     | N        | Multi-Turn 배터리 전압이 너무 낮아 문제 발생                    |
-| 11 | Magnet Error                 | N         | -     | N        | Multi-Turn 위치를 잃어버림. Multi-Turn Clear 필요              |
-| 12 | Multi-Turn Error             | N         | -     | N        | Multi-Turn IC에 문제가 발생함                                  |
-| 13 | Encoder Error                | N         | -     | N        | Encoder IC에 문제가 발생함                                     |
-| 14 | Hall Sensor Error            | N         | -     | N        | Hall Sensor에 문제가 발생함                                    |
-| 15 | Calibration Error            | N         | -     | N        | Calibration 데이터를 찾을 수 없음                               |
-| 17 | Following Error              | Y         | Y     | Y        | 위치제어에서 Error 값이 [Following Error Threshold(44)]보다     |
-| 18 | Bus Watchdog Error           | Y         | Y     | Y        | Bus Watchdog Error가 발생함                                    |
-| 19 | Over Speed Error             | Y         | Y     | Y        | [Velocity Limit(72)] 보다 120% 이상의 속도로 회전함             |
-| 20 | Position Limit Reached Error | Y         | Y     | Y        | 위치제어모드에서 현재 위치가 [Max/Min Position Limit(76, 84)]<br /> + [Position Limit Threshold(38)] 영역 내에서 밖으로 벗어남 |
+| 값        |           이름               | Torque ON  | *Hold | 에러헤제 | 설명                                                          |
+|:---------:|:----------------------------:|:---------:|:-----:|:--------:|:-------------------------------------------------------------|
+| 0 (0x00)  | No Error                     | -         | -     | -        | 에러 없음                                                     |
+| 1 (0x01)  | Over Voltage Error           | N         | -     | Y        | 장치 인가 전압이 [Max Voltage Limit(60)] 범위를 넘음            |
+| 2 (0x02)  | Low Voltage Error            | N         | -     | Y        | 장치 인가 전압이 [Min Voltage Limit(62)] 범위를 넘음            |
+| 3 (0x03)  | Inverter Overheating Error   | N         | -     | Y        | 인버터의 온도가 [Inverter Temperature Limit(56)]을 넘음        |
+| 4 (0x04)  | Motor Overheating Error      | N         | -     | Y        | 모터의 온도가 [Motor Temperature Limit(57)]을 넘음            |
+| 5 (0x05)  | Overload Error               | N         | -     | Y        | 정격 전류를 초과하는 전류를 장시간 사용                          |
+| 7 (0x07)  | Inverter Error               | N         | -     | N        | 인버터에 문제가 발생함                                         |
+| 9 (0x09)  | Battery Warning              | Y         | N     | N        | Multi-Turn 배터리 전압이 낮음. 교체 권장                        |
+| 10 (0x0A) | Battery Error                | N         | -     | N        | Multi-Turn 배터리 전압이 너무 낮아 문제 발생                    |
+| 11 (0x0B) | Magnet Error                 | N         | -     | N        | Multi-Turn 위치를 잃어버림. Multi-Turn Clear 필요              |
+| 12 (0x0C) | Multi-Turn Error             | N         | -     | N        | Multi-Turn IC에 문제가 발생함                                  |
+| 13 (0x0D) | Encoder Error                | N         | -     | N        | Encoder IC에 문제가 발생함                                     |
+| 14 (0x0E) | Hall Sensor Error            | N         | -     | N        | Hall Sensor에 문제가 발생함                                    |
+| 15 (0x0F) | Calibration Error            | N         | -     | N        | Calibration 데이터를 찾을 수 없음                               |
+| 17 (0x11) | Following Error              | Y         | Y     | Y        | 위치제어에서 Error 값이 [Following Error Threshold(44)]보다     |
+| 18 (0x12) | Bus Watchdog Error           | Y         | Y     | Y        | Bus Watchdog Error가 발생함                                    |
+| 19 (0x13) | Over Speed Error             | Y         | Y     | Y        | [Velocity Limit(72)] 보다 120% 이상의 속도로 회전함             |
+| 20 (0x14) | Position Limit Reached Error | Y         | Y     | Y        | 위치제어모드에서 현재 위치가 [Max/Min Position Limit(76, 84)]<br /> + [Position Limit Threshold(38)] 영역 내에서 밖으로 벗어남 |
 
 
 **참고** : *Hold 상태는 Torque On 상태에서 Goal Value Write가 불가능한 상태입니다. 위치제어, 속도제어모드의 경우 감속 정지 후 현재 위치를 유지하며, 전류제어의 경우 Dynamic Brake 모드가 됩니다.

diff --git a/_includes/kr/dxl/y/control_table_38_position_limit_threshold.md b/_includes/kr/dxl/y/control_table_38_position_limit_threshold.md
@@ -1,5 +1,5 @@
 Position Limit Reached Error의 판단 기준치입니다.  
-[Present Position(552)]의 값이 ([Max Position Limit(76)] + Position Limit Threshold(38)) ~ ([Min Position Limit(84)] - Position Limit Threshold(38)) 범위를 벗어나는 경우 Position Limit Reached Error가 발생합니다.
+[Present Position(552)]의 값이 ([Max Position Limit(76)] + Position Limit Threshold(38)) ~ ([Min Position Limit(84)] - Position Limit Threshold(38)) 범위를 벗어나는 경우 Position Limit Reached Error가 발생합니다. 이 값이 ‘0’인 경우 Position Limit Reached Error가 비활성화 됩니다.
 
 |   단위    |    범위     |
 |:---------:|:----------:|

diff --git a/_includes/kr/dxl/y/control_table_52_homing_offset.md b/_includes/kr/dxl/y/control_table_52_homing_offset.md
@@ -1,6 +1,6 @@
 0점의 위치를 조절 할 수 있습니다. 이 값은 [Present Position(552)]에 더해지게 됩니다.  
 Present Position = 실제 위치 + Homing offset(52) 이 됩니다.
 
-|   단위    |        범위        |
-|:---------:|:-----------------:|
-| 1 [Pulse] | 0 ~ 2,147,483,647 |
+|   단위    |        범위                     |
+|:---------:|:------------------------------:|
+| 1 [Pulse] | -2,147,483,647 ~ 2,147,483,647 |