diff --git a/_data/navigation.yml b/_data/navigation.yml
index d32eb1a13..f8bd431da 100644
--- 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
index 53197d139..356733814 100644
--- 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
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
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
index 96c4db68b..015cf4c56 100644
--- 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
index 825a7e6c6..37a68cc46 100644
--- 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
index 8f2ad8f0a..9ad5d3b1e 100644
--- 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
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
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}
\ No newline at end of file
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
index 776006297..f2dd136cd 100644
--- 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
index 1073a567f..29e799181 100644
--- 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
index bc50ddf46..b4cf8b9f1 100644
--- 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)]
+ [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)]
+ [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
index 10668d478..7bed004b6 100644
--- 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
index 955d2f779..073d5b5d6 100644
--- 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 |
diff --git a/_includes/kr/dxl/y/control_table_56_temperature_limit.md b/_includes/kr/dxl/y/control_table_56_temperature_limit.md
index ed68c2647..f20ead4c9 100644
--- a/_includes/kr/dxl/y/control_table_56_temperature_limit.md
+++ b/_includes/kr/dxl/y/control_table_56_temperature_limit.md
@@ -1,4 +1,4 @@
-Inverter와 Motor의 동작 온도의 상한 값입니다.
+인버터와 모터의 동작 온도의 상한 값입니다.
현재 내부온도를 나타내는 [Present Inverter Temperature(570)]나 [Present Motor Temperature(571)]의 값이 각각 Inverter Temperature Limit(56), Motor Temperature Limit(57)보다 높아지면 Error가 발생되어 아래 표와 같이 컨트롤테이블의 값이 변경되고 장치가 정지합니다.
Error가 발생한 후에는 Status Packet은 Error 필드를 통해서 Alert Bit(0x80)을 전송합니다.
@@ -6,8 +6,8 @@ Error가 발생한 후에는 Status Packet은 Error 필드를 통해서 Alert Bi
| 주소 | 명칭 | 변경 값 | 설명 |
|:---------:|:------------------:|:----------------------------------------------------|:------------------------------------------------------------------------------------------|
| 152 | [Controller State] | 9 (Hardware Fault) | 내부 제어기가 Hardware Fault 상태로 변경됨 |
-| 153 | [Error Code] | 3 (Inverter Overheating)
4 (Motor Overheating) | Inverter의 온도가 Inverter Temperature Limit(56) 보다 높음
Motor의 온도가 Motor Temperature Limit(57) 보다 높음 |
-| 512 | [Torque Enable] | 0 (Torque OFF) | 에러가 발생하여 장치의 Torque를 차단 |
+| 153 | [Error Code] | 3 (Inverter Overheating)
4 (Motor Overheating) | 인버터의 온도가 Inverter Temperature Limit(56) 보다 높음
모터의 온도가 Motor Temperature Limit(57) 보다 높음 |
+| 512 | [Torque Enable] | 0 (Torque OFF) | 에러가 발생하여 장치의 토크를 차단 |
| 154 ~ 169 | Error Code History | Error Code | Error Code History에 현재 발생한 Error Code가 추가됨 |
[Controller State]: #controller-state152
diff --git a/_includes/kr/dxl/y/control_table_570_present_inverter_temperature.md b/_includes/kr/dxl/y/control_table_570_present_inverter_temperature.md
index 4d4ac929c..f1c84b781 100644
--- a/_includes/kr/dxl/y/control_table_570_present_inverter_temperature.md
+++ b/_includes/kr/dxl/y/control_table_570_present_inverter_temperature.md
@@ -1 +1 @@
-현재 Inverter의 온도입니다. 자세한 사항은 [Inverter Temperature Limit(56)]을 참고하세요.
+현재 인버터의 온도입니다. 자세한 사항은 [Inverter Temperature Limit(56)]을 참고하세요.
diff --git a/_includes/kr/dxl/y/control_table_571_present_motor_temperature.md b/_includes/kr/dxl/y/control_table_571_present_motor_temperature.md
index 1c1302b57..281d07f3e 100644
--- a/_includes/kr/dxl/y/control_table_571_present_motor_temperature.md
+++ b/_includes/kr/dxl/y/control_table_571_present_motor_temperature.md
@@ -1 +1 @@
-현재 Motor의 내부 온도입니다. 자세한 사항은 [Motor Temperature Limit(57)]을 참고하세요.
+현재 모터의 내부 온도입니다. 자세한 사항은 [Motor Temperature Limit(57)]을 참고하세요.
diff --git a/_includes/kr/dxl/y/control_table_60_voltage_limit.md b/_includes/kr/dxl/y/control_table_60_voltage_limit.md
index 25461da4b..01ae4aa28 100644
--- a/_includes/kr/dxl/y/control_table_60_voltage_limit.md
+++ b/_includes/kr/dxl/y/control_table_60_voltage_limit.md
@@ -7,8 +7,8 @@
|:---------:|:------------------:|:----------------------------------------------------|:------------------------------------------------------------------------------------------|
| 152 | [Controller State] | 9 (Hardware Fault) | 내부 제어기가 Hardware Fault 상태로 변경됨 |
| 153 | [Error Code] | 1 (Over Voltage Error)
2 (Low Voltage Error) | 현재 입력 전압이 Max Voltage Limit(60)보다 큼
현재 입력 전압이 Over Voltage Limit(61)보다 작음 |
-| 512 | [Torque Enable] | 0 (Torque OFF) | 에러가 발생하여 장치의 Torque를 차단 |
-| 154 ~ 169 | Error Code History | Error Code | Error Code History에 현재 발생한 Error Code가 추가됨 |
+| 512 | [Torque Enable] | 0 (Torque OFF) | 에러가 발생하여 장치의 토크를 차단 |
+| 154 ~ 169 | Error Code History | Error Code | Error Code History에 현재 발생한 Error Code가 추가됨 |
[Controller State]: #controller-state152
[Error Code]: #error-code153
diff --git a/_includes/kr/dxl/y/control_table_66_current_limit.md b/_includes/kr/dxl/y/control_table_66_current_limit.md
index 5647703aa..b53836d38 100644
--- a/_includes/kr/dxl/y/control_table_66_current_limit.md
+++ b/_includes/kr/dxl/y/control_table_66_current_limit.md
@@ -2,9 +2,9 @@
[Goal Current(526)]은 Current Limit(66)보다 큰 값을 입력할 수 없습니다. 이 값보다 큰 값을 입력 하면, Status Packet은 Error영역에 통해서 Data Limit Error를 전송합니다.
-| 단위 | 범위 | 설명 |
-| :------: | :-------: | :-------------------------------------------------------------------------------: |
-| 0.01 [A] | 0 ~ 2,000 | 1,000 = 10[A], 10[A]까지 전류 사용 가능
2,000 = 20[A], 20[A]까지 전류 사용 가능 |
+| 단위 | 범위 | 설명 |
+| :------: | :-------: | :-----------------------------------------------------------------------------------: |
+| 0.01 [A] | 0 ~ 2,080 | 1,000 = 10[A], 10[A]까지 전류 사용 가능
2,080 = 20.8[A], 20.8[A]까지 전류 사용 가능 |
**참고** : 장치의 정격 전류인 10[A]를 초과하는 전류를 모터에 계속 인가하는 경우 Overload Error가 발생합니다. 정격을 초과하는 전류는 순간적으로만 사용하십시오.
{: .notice}
\ No newline at end of file
diff --git a/assets/images/dxl/y/dxl_y_productline_en.png b/assets/images/dxl/y/dxl_y_productline_en.png
deleted file mode 100644
index 306f8f985..000000000
Binary files a/assets/images/dxl/y/dxl_y_productline_en.png and /dev/null differ
diff --git a/assets/images/dxl/y/dxl_y_productline_kr.png b/assets/images/dxl/y/dxl_y_productline_kr.png
deleted file mode 100644
index faaa78118..000000000
Binary files a/assets/images/dxl/y/dxl_y_productline_kr.png and /dev/null differ
diff --git a/assets/images/dxl/y/model_numbering_en.png b/assets/images/dxl/y/model_numbering_en.png
new file mode 100644
index 000000000..fb6d12755
Binary files /dev/null and b/assets/images/dxl/y/model_numbering_en.png differ
diff --git a/assets/images/dxl/y/model_numbering_kr.png b/assets/images/dxl/y/model_numbering_kr.png
new file mode 100644
index 000000000..6e765cbbc
Binary files /dev/null and b/assets/images/dxl/y/model_numbering_kr.png differ
diff --git a/assets/images/dxl/y/y_exploded_view.png b/assets/images/dxl/y/y_exploded_view.png
new file mode 100644
index 000000000..43a8e03c8
Binary files /dev/null and b/assets/images/dxl/y/y_exploded_view.png differ
diff --git a/assets/images/dxl/y/y_productline.png b/assets/images/dxl/y/y_productline.png
new file mode 100644
index 000000000..164db7865
Binary files /dev/null and b/assets/images/dxl/y/y_productline.png differ
diff --git a/assets/images/dxl/y/y_type.png b/assets/images/dxl/y/y_type.png
new file mode 100644
index 000000000..3f26d0a60
Binary files /dev/null and b/assets/images/dxl/y/y_type.png differ
diff --git a/docs/en/dxl/dxl.md b/docs/en/dxl/dxl.md
index f9b3a1089..69753b069 100644
--- a/docs/en/dxl/dxl.md
+++ b/docs/en/dxl/dxl.md
@@ -7,8 +7,23 @@ sidebar:
title: DYNAMIXEL
nav: "all-dynamixel"
---
+# [Y Series](#y-series)
-# [DYNAMIXEL-P](#dynamixel-p)
+## [YM070 Series](#ym070-series)
+
+| Motor | Reducer |
+|:-----------------------------------------------------------:|:-----------------------------------------------------------------------------------------------------------------:|
+| {: width="100"} |  |
+| [YM070-210-M001-RH](/docs/en/dxl/y/ym070-210-m001-rh) | [YM070-210-R051-RH](/docs/en/dxl/y/ym070-210-r051-rh)
[YM070-210-R099-RH](/docs/en/dxl/y/ym070-210-r099-rh) |
+
+## [YM080 Series](#ym080-series)
+
+| motor | Reducer |
+|:-----------------------------------------------------------:|:-----------------------------------------------------------------------------------------------------------------:|
+| {: width="100"} |  |
+| [YM080-230-M001-RH](/docs/en/dxl/y/ym080-230-m001-rh) | [YM080-230-R051-RH](/docs/en/dxl/y/ym080-230-r051-rh)
[YM080-230-R099-RH](/docs/en/dxl/y/ym080-230-r099-rh) |
+
+# [P Series](#p-series)
## [PH Series](#ph-series)
diff --git a/docs/en/dxl/y/y.md b/docs/en/dxl/y/y.md
index d2779a545..cddcdb8a0 100644
--- a/docs/en/dxl/y/y.md
+++ b/docs/en/dxl/y/y.md
@@ -14,7 +14,9 @@ DYNAMIXEL-Y is ROBOTIS’ industrialized premium smart actuator solution for ful
# [Product Lineup](#product-lineup)
-
+
+
+
> DYNAMIXEL-Y Lineups
@@ -26,6 +28,10 @@ DYNAMIXEL-Y is ROBOTIS’ industrialized premium smart actuator solution for ful
- Compact & Simple Design with Hollow Shaft
- Dynamic Motor Controller
+
+
+
+
# [Key Specifications](#key-Specifications)
| Model |Dimensions [mm]|Weight [g]|Resolution [pulse/rev]| Type |
diff --git a/docs/en/dxl/y/ym070-210-m001-rh.md b/docs/en/dxl/y/ym070-210-m001-rh.md
index 930beda41..86a3709dc 100644
--- a/docs/en/dxl/y/ym070-210-m001-rh.md
+++ b/docs/en/dxl/y/ym070-210-m001-rh.md
@@ -69,14 +69,14 @@ product_group: dxl_y_m
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_m
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 550,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |
diff --git a/docs/en/dxl/y/ym070-210-r051-rh.md b/docs/en/dxl/y/ym070-210-r051-rh.md
index 4871f99ef..d34a61825 100644
--- a/docs/en/dxl/y/ym070-210-r051-rh.md
+++ b/docs/en/dxl/y/ym070-210-r051-rh.md
@@ -69,14 +69,14 @@ product_group: dxl_y_r
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_r
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |
diff --git a/docs/en/dxl/y/ym070-210-r099-rh.md b/docs/en/dxl/y/ym070-210-r099-rh.md
index d3621cc47..b568f09f0 100644
--- a/docs/en/dxl/y/ym070-210-r099-rh.md
+++ b/docs/en/dxl/y/ym070-210-r099-rh.md
@@ -69,17 +69,17 @@ product_group: dxl_y_r
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
-| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
+| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - |
| 154 | 1 | RAM | Error Code History 1 | R | - | - | - |
| 155 | 1 | RAM | Error Code History 2 | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_r
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |
diff --git a/docs/en/dxl/y/ym080-230-m001-rh.md b/docs/en/dxl/y/ym080-230-m001-rh.md
index c9e18b801..2ecb6c01f 100644
--- a/docs/en/dxl/y/ym080-230-m001-rh.md
+++ b/docs/en/dxl/y/ym080-230-m001-rh.md
@@ -69,14 +69,14 @@ product_group: dxl_y_m
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_m
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 310,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |
diff --git a/docs/en/dxl/y/ym080-230-r051-rh.md b/docs/en/dxl/y/ym080-230-r051-rh.md
index a62e809a7..58657f8a6 100644
--- a/docs/en/dxl/y/ym080-230-r051-rh.md
+++ b/docs/en/dxl/y/ym080-230-r051-rh.md
@@ -69,14 +69,14 @@ product_group: dxl_y_r
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_r
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |
diff --git a/docs/en/dxl/y/ym080-230-r099-rh.md b/docs/en/dxl/y/ym080-230-r099-rh.md
index 1600b1fc6..975dcd5b9 100644
--- a/docs/en/dxl/y/ym080-230-r099-rh.md
+++ b/docs/en/dxl/y/ym080-230-r099-rh.md
@@ -69,14 +69,14 @@ product_group: dxl_y_r
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_r
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |
diff --git a/docs/kr/dxl/dxl.md b/docs/kr/dxl/dxl.md
index eb3398bfb..24e62380a 100644
--- a/docs/kr/dxl/dxl.md
+++ b/docs/kr/dxl/dxl.md
@@ -15,14 +15,14 @@ sidebar:
| Motor | Reducer |
|:-----------------------------------------------------------:|:-----------------------------------------------------------------------------------------------------------------:|
| {: width="100"} |  |
-| [YM070-210-M001-RH](/docs/kr/dxl/y/ym070-210-m001-rh) | [YM070-210-R051-RH](/docs/kr/dxl/y/ym070-210-R051-rh)
[YM070-210-R099-RH](/docs/kr/dxl/y/ym070-210-R099-rh) |
+| [YM070-210-M001-RH](/docs/kr/dxl/y/ym070-210-m001-rh) | [YM070-210-R051-RH](/docs/kr/dxl/y/ym070-210-r051-rh)
[YM070-210-R099-RH](/docs/kr/dxl/y/ym070-210-r099-rh) |
## [YM080 시리즈](#ym080-시리즈)
| motor | Reducer |
|:-----------------------------------------------------------:|:-----------------------------------------------------------------------------------------------------------------:|
| {: width="100"} |  |
-| [YM080-230-M001-RH](/docs/kr/dxl/y/ym080-230-m001-rh) | [YM080-230-R051-RH](/docs/kr/dxl/y/ym080-230-R051-rh)
[YM080-230-R099-RH](/docs/kr/dxl/y/ym080-230-R099-rh) |
+| [YM080-230-M001-RH](/docs/kr/dxl/y/ym080-230-m001-rh) | [YM080-230-R051-RH](/docs/kr/dxl/y/ym080-230-r051-rh)
[YM080-230-R099-RH](/docs/kr/dxl/y/ym080-230-r099-rh) |
# [P 시리즈](#p-시리즈)
diff --git a/docs/kr/dxl/y/y.md b/docs/kr/dxl/y/y.md
index 84e86b8b2..66915242a 100644
--- a/docs/kr/dxl/y/y.md
+++ b/docs/kr/dxl/y/y.md
@@ -14,7 +14,9 @@ DYNAMIXEL-Y is ROBOTIS’ industrialized premium smart actuator solution for ful
# [제품 라인업](#제품-라인업)
-
+
+
+
> 다이나믹셀-Y 시리즈 라인업
@@ -26,6 +28,10 @@ DYNAMIXEL-Y is ROBOTIS’ industrialized premium smart actuator solution for ful
- Compact & Simple Design with Hollow Shaft
- Dynamic Motor Controller
+
+
+
+
# [주요 사양](#주요-사양)
| 모델명 | 크기(mm) | 무게 | 해상도 | 구성 |
diff --git a/docs/kr/dxl/y/ym070-210-m001-rh.md b/docs/kr/dxl/y/ym070-210-m001-rh.md
index b63b3329f..4c041af96 100644
--- a/docs/kr/dxl/y/ym070-210-m001-rh.md
+++ b/docs/kr/dxl/y/ym070-210-m001-rh.md
@@ -69,17 +69,17 @@ product_group: dxl_y_m
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
-| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
+| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - |
| 154 | 1 | RAM | Error Code History 1 | R | - | - | - |
| 155 | 1 | RAM | Error Code History 2 | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_m
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 550,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |
diff --git a/docs/kr/dxl/y/ym070-210-r051-rh.md b/docs/kr/dxl/y/ym070-210-r051-rh.md
index d9eeea6b3..b6d4349ea 100644
--- a/docs/kr/dxl/y/ym070-210-r051-rh.md
+++ b/docs/kr/dxl/y/ym070-210-r051-rh.md
@@ -69,17 +69,17 @@ product_group: dxl_y_r
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
-| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
+| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - |
| 154 | 1 | RAM | Error Code History 1 | R | - | - | - |
| 155 | 1 | RAM | Error Code History 2 | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_r
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |
diff --git a/docs/kr/dxl/y/ym070-210-r099-rh.md b/docs/kr/dxl/y/ym070-210-r099-rh.md
index 16aa6fe57..094631672 100644
--- a/docs/kr/dxl/y/ym070-210-r099-rh.md
+++ b/docs/kr/dxl/y/ym070-210-r099-rh.md
@@ -69,17 +69,17 @@ product_group: dxl_y_r
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
-| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
+| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - |
| 154 | 1 | RAM | Error Code History 1 | R | - | - | - |
| 155 | 1 | RAM | Error Code History 2 | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_r
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |
diff --git a/docs/kr/dxl/y/ym080-230-m001-rh.md b/docs/kr/dxl/y/ym080-230-m001-rh.md
index 2f0352a0d..509eeb242 100644
--- a/docs/kr/dxl/y/ym080-230-m001-rh.md
+++ b/docs/kr/dxl/y/ym080-230-m001-rh.md
@@ -69,17 +69,17 @@ product_group: dxl_y_m
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 1 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
-| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
+| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - |
| 154 | 1 | RAM | Error Code History 1 | R | - | - | - |
| 155 | 1 | RAM | Error Code History 2 | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_m
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 310,000 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |
diff --git a/docs/kr/dxl/y/ym080-230-r051-rh.md b/docs/kr/dxl/y/ym080-230-r051-rh.md
index f3817fe54..3f55baf02 100644
--- a/docs/kr/dxl/y/ym080-230-r051-rh.md
+++ b/docs/kr/dxl/y/ym080-230-r051-rh.md
@@ -69,17 +69,17 @@ product_group: dxl_y_r
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 51 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
-| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
+| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - |
| 154 | 1 | RAM | Error Code History 1 | R | - | - | - |
| 155 | 1 | RAM | Error Code History 2 | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_r
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 3,921 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |
diff --git a/docs/kr/dxl/y/ym080-230-r099-rh.md b/docs/kr/dxl/y/ym080-230-r099-rh.md
index 7619472ea..290dcb0f9 100644
--- a/docs/kr/dxl/y/ym080-230-r099-rh.md
+++ b/docs/kr/dxl/y/ym080-230-r099-rh.md
@@ -69,17 +69,17 @@ product_group: dxl_y_r
| 84 | 4 | EEPROM | [Min Position Limit](#min-position-limit) | RW | -262,144 | -2,147,483,647 ~ 2,147,483,647 | 1 [pulse] |
| 96 | 4 | EEPROM | [Electronic GearRatio Numerator](#electronic-gearratio-numerator) | RW | 99 | 1 ~ 2,147,483,647 | 1/R |
| 100 | 4 | EEPROM | [Electronic GearRatio Denominator](#electronic-gearratio-denominator) | RW | 1 | 1 ~ 2,147,483,647 | R |
-| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 1 ~ 32,767 | 1 [ms] |
-| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
-| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 65,535 | 1 [ms] |
+| 104 | 2 | EEPROM | [Safe Stop Time](#safe-stop-time) | RW | 200 | 0 ~ 32,767 | 1 [ms] |
+| 106 | 2 | EEPROM | [Brake Delay](#brake-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 108 | 2 | EEPROM | [Goal Update Delay](#goal-update-delay) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
| 110 | 1 | EEPROM | [Overexcitation Voltage](#overexcitation-voltage) | RW | 100 | 0 ~ 100 | 1 [%] |
| 111 | 1 | EEPROM | [Normal Excitation Voltage](#normal-excitation-voltage) | RW | 0 | 0 ~ 100 | 1 [%] |
-| 102 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
-| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
-| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 65,535 | 0.1 [Hz] |
+| 112 | 2 | EEPROM | [Overexcitation Time](#overexcitation-time) | RW | 0 | 0 ~ 32,767 | 1 [ms] |
+| 132 | 2 | EEPROM | [Present Velocity LPF Frequency](#present-velocity-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
+| 134 | 2 | EEPROM | [Goal Current LPF Frequency](#goal-current-lpf-frequency) | RW | 0 | 0 ~ 32,767 | 0.1 [Hz] |
| 136 | 2 | EEPROM | [Position FF LPF Time](#position-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
| 138 | 2 | EEPROM | [Velocity FF LPF Time](#velocity-ff-lpf-time) | RW | 0 | 0 ~ 512 | 0.2 [ms] |
-| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
+| 152 | 1 | RAM | [Controller State](#controller-state) | R | - | - | - |
| 153 | 1 | RAM | [Error Code](#error-code) | R | - | - | - |
| 154 | 1 | RAM | Error Code History 1 | R | - | - | - |
| 155 | 1 | RAM | Error Code History 2 | R | - | - | - |
@@ -98,11 +98,11 @@ product_group: dxl_y_r
| 244 | 4 | Hybrid | [Profile Velocity](#profile-velocity) | RW | 2,020 | 0 ~ Velocity Limit(72) | 0.01 [rev/min] |
| 248 | 4 | Hybrid | [Profile Acceleration Time](#profile-acceleration-time) | RW | 400 | 0 ~ 262,144 | 0.2 [ms] |
| 252 | 4 | Hybrid | [Profile Time](#profile-time) | RW | 800 | 0 ~ 524,288 | 0.2 [ms] |
-| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 32,767 | - |
-| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 32,767 | - |
+| 256 | 2 | EEPROM | [Indirect Address 1] | RW | 634 | 0 ~ 919 | - |
+| 258 | 2 | EEPROM | [Indirect Address 2] | RW | 635 | 0 ~ 919 | - |
| ... | ... | ... | ... | ... | ... | ... | ... |
-| 509 | 2 | EEPROM | [Indirect Address 127] | RW | 760 | 0 ~ 32,767 | - |
-| 510 | 2 | EEPROM | [Indirect Address 128] | RW | 761 | 0 ~ 32,767 | - |
+| 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](#torque-enable) | RW | 0 | 0 ~ 1 | - |
| 513 | 1 | RAM | [LED](#led) | RW | 0 | 0 ~ 1 | - |
| 516 | 2 | RAM | [PWM Offset](#pwm-offset) | RW | 0 | - Voltage(PWM)Limit(64) ~
Voltage(PWM)Limit(64) | 0.1 [%] |