（全商品：390点）
モデル名
Dynamixel MX-28AT
重量
77g
サイズ
35.6mm x 50.6mm x 35.5mm
ギヤ比
193 : 1
電圧 (V)
11.1
12
14.8
ストールトルク (N.m)
2.3
2.5
3.1
ストール電流 (A)
1.3
1.4
1.7
無付加回転数 (RPM)
50
55
67
搭載モータ
マクソン ブラシレスモータ
最小動作角度
約0.088度 分解能=4,096step
動作可能範囲
位置決め関節モード : 360度
マルチターン時：360度x56回転(cw、ccw各28回転)
車輪モード : 無限回転(速度制御)
電圧範囲
10~14.8V (定格 : 12V)
温度範囲
-5°C ~ 80°C
制御信号
デジタルパケット
プロトコル
半二重非同期シリアル通信 (8bit,1stop, No Parity)
接続
TTL 3ピンコネクタx2、マルチドロップ（デイジーチェーン）接続可能
ID
254 ID (0~253) （初期値＝ID1）
通信速度
8000bps ~ 4.5Mbps（初期値=57600bps）
読み取り可能パラメータ
現在位置、現在温度、現在負荷、入力電圧 etc.
材質
アッパーケース：アルミ合金
ミドルケース、ボトムケース：エンジニアリングプラスチック
ギヤ：全段金属
位置決めセンサー
非接触式アブソリュートエンコーダ
構成品
個
アクチュエータ
MX-28AT
1
サーボホーン
HN07-N101
ホーン用スペーサ
スラストワッシャー
ケーブル
TTL 3P Cable 200mm
ねじ類
キャップボルト M2.5*6
16
キャップボルト M2.5*8
キャップボルト M2*3
10
ナット M2.5
18
Dynamixel MX-28AR
RS-485
RS-485 4ピンコネクタx2、マルチドロップ（デイジーチェーン）接続可能
MX-28AR
RS-485 4P Cable 200mm
Product Name
MX-12W
Weight
54.6 g
Dimension
32mm x 50mm x 40mm
Gear Ratio
32 : 1
Operation Voltage (V)
Stall Current (A)
0.6
No Load Speed (RPM)
470
Motor
Cored Motor
Minimum Control Angle
About 0.088° x 4,096
Operating Range
Actuator Mode : 360°
Wheel Mode : Endless turn
Operating Voltage
10~14.8V (Recommended voltage : 12V)
Operating Temperature
Command Signal
Digital Packet
Protocol
Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity)
Link (physical)
TTL Level Multi Drop (daisy chain type connector)
254 ID (0~253)
Baud Rate
8000bps ~ 4.5Mbps
Feedback Functions
Position, Temperature, Load, Input Voltage, etc.
Material
Case : Engineering Plastic
Gear : Engineering Plastic
Position Sensor
Contactless absolute encoder
Dynamixel MX-64AT
135g
40.2mm x 61.1mm x 41mm
200 : 1
5.5
6
7.3
3.9
4.1
5.2
58
63
78
現在電流、現在位置、現在温度、現在負荷、入力電圧 etc.
MX-64AT
HN05-N102
キャップボルト M2.5*4
キャップボルト M3*8
Dynamixel MX-64AR
MX-64AR
名称
Dynamixel XL-320
16.7 g
24mm x 36mm x 27mm
238 : 1
定格電圧 (V)
7.4
ストールトルク (kg・cm)
3.82
114
モーター
DCコアードモーター
分解能
0.29° x 1,024step
動作範囲
関節モード : 300°
車輪モード : 無限回転
6~8.4V (定格 : 7.4V)
-5°C ~ 70°C
通信形式
半二重シリアル通信(8bit,1stop,No Parity)
DXL2.0
TTL レベルマルチドロップ接続
(デイジーチェーン接続)
253 ID (0~252)
7843bps ~ 1Mbps
読み取り可能な値
現在位置,回転方向,内部温度,負荷,入力電圧,エラー情報 etc.
ケース : エンジニアリングプラスチック
ギヤ : エンジニアリングプラスチック
■アイドラーホーンは付属していません。
反対軸を構成する場合HN11-I101 Set[903-0265-000]が必要です。
■ Basic Features
The DYNAMIXEL X-Series is a new line-up of high performance networked actuators.
The Dynamixel XL series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure. The XL series has the same mechanical structure as the XM430 and XH430 and is compatible with the respective models.
• Improved Torque, Compact Design
• Enhanced Durability and Expandability
• Hollow Back Case Minimizes Cable Stress (3-Way Wiring)
• Frames Directly Screwed onto the Case (No Nuts Needed)
• 6 Operating Modes
• Profile Control for Smooth Motion Planning
• Energy Efficient with Improved Operation Time
■ Package Contents
Description
Quantity
DYNAMIXEL
XL430-W250-T
HORN
HN11-N101 (Pre-assembled)
CABLE
Robot Cable-X3P 180mm
BOLT/NUT
Bolt (M2.6*5) TAP
5
Bolt (M2*5)
ETC
Spacer Ring
■ H/W Specifications
Model Name
Weight (g)
57.2
Dimension (mm)
28.5 x 46.5 x 34
258.5 : 1
9.0
12.0
Stall Torque (N.m)
1.0
1.5
47
57
61
MCU
ST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT)
Contactless absolute encoder (12BIT,360°) by AMS
Cored
Resolution
0.088° x 4,096 steps
Position Control Mode : 360°
Velocity Control Mode : Endless Turn
Input Voltage (V)
6.5~12.0V (Recommended voltage : 11.1V)
-5°C ~ 72°C
Protocol Type
Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity)
TTL Level Multi Drop Bus
9600 bps ~ 4.5 Mbps
Feedback
Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
Standby current (mA)
52
■ Default Settings
ID : 1
Baud Rate : 57600bps
*Please make necessary modifications to ID, baud rate, etc. after purchase.
■ Various Cabling Methods
■ Key Names
■ Model Numbering
■ Hyperlinks
Frame, Horn, Bearing Compatible Chart : Click Here
Controller Compatibility Chart : Click Here
Download Drawing : Click Here
Dynamixel SDK : Click Here
OpenCM IDE : Click Here
Software RoboPlus (R+) : Click Here
Link to e-Manual : Click Here
■ Caution
The DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication.
For more information, please see the [DYNAMIXEL Connector Standard] page on the e-Manual.
To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.
However, the Molex-JST convertible cable is NOT included in the XL430 model.
Please purchase a convertible cable when using a controller and interface that supports the JST connector.
Controller / Interface Board
Cable
Dynamixel X
Model
Supports Connectors :
Communication
OpenCM+485 Expansion Board
Molex (3P, 4P)
Robot Cable-X3P 180mm (Convertible)
JST-3P
TTL
USB2Dynamixel
OpenCR1.0
JST (3P, 4P)
Robot Cable -X3P (by length)
U2D2
Robot Cable -X3P 180mm (Convertible)
JST-4P
DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.
The DYNAMIXEL XC series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure. The XL series has the same mechanical structure as the XM430 and XH430 and is compatible with the respective models.
XC430 is a high performance version of XL430 (Entry-level DYNAMIXEL), that can be applied to robots that require stronger torque.Metal gears are adopted to enhance its durability.
1. Various Operating Modes
Velocity Control, Position Control, Extended Position Control, PWM Control
2. Profile Control for Smooth Motion Planning
3. Hollow Back Case Minimizes Cable Stress (3-way-routing)
4. Direct Screw Assembly to the Case (without Nut Insert)5. Energy Saving with Reduced Current
* Not included Idler Set for assembling hinge frames
Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0
Interface : USB2Dynamixel, U2D2
(User can change various settings including ID and baud rate according to environment)
DYNAMIXEL X-Series cable assembly through hollow case
Organize the entangled cable before assembling the back case.
Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error.
If you use two cables through the hollow case, the cables will be damaged.
Use only one cable through the hollow case.
The connector used for previous Dynamixel is Molex.
ダイナミクセルXMシリーズは、高性能ネットワーク接続されたアクチュエータモジュールの新ラインアップです。
これは、広く信頼性と拡張性を持つ多関節ロボットを構築するために使用されています。
詳細については、ダイナミクセルXMシリーズ製品情報をご覧ください。
DYNAMIXEL XW series use a waterproof cable.
One side has a waterproof connector and the other side has a JST connector.
Extension cable has waterproof connectors for both sides.
The OpenCR controller has a JST connector for direct connection, but since the OpenCM9.04 + OpenCM 485 expansion board only has a Molex connector, a conversion cable must be used by utilizing U2D2 PHB.
XW540-T260 -R
The DYNAMIXEL 2XL series can control two axis with a single module, so it can be easily used when used in robot`s neck, shoulder, hip, wrist, and ankle. The 2XL series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure and Metal gear (Powder Metallurgy) is used for high durability. High compatibility with XL430, XM430, XH430.
3. Hollow Back Case Minimizes Cable Stress
4. Direct Screw Assembly to the Case (Some parts)5. Energy Saving with Reduced Current
* Idler Set(HN11-I101 Set) for assembling hinge frames are not included.
Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0, CM-550
Molex-JST conversion cable is not included with the purchase of 2XL430 Dynamixel, so you must purchase Molex-JST conversion cable separately to connect to the existing controller (OpenCM 485 expansion board, USB2Dynamixel).
The DYNAMIXEL 2XC series can control two axis with a single module, so it can be effectively applied to robot`s neck, shoulder, hip, wrist, and ankle. The 2XC series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure. Metal gear and Coreless motor are used for high durability. High compatibility with XL430, XM430, XH430.
Controller : OpenCM9.04 + 485 Expansion Board, OpenCR1.0, CM-550
ID(A) : 1
ID(B) : 2
DYNAMIXEL-X Series cable assembly through hollow case
The DYNAMIXEL-X Series adopted a new gold-plated JST connector for secure and reliable communication.
Molex-JST conversion cable is not included with the purchase of 2XC430 Dynamixel, so you must purchase Molex-JST conversion cable separately to connect to the existing controller (OpenCM 485 expansion board, USB2Dynamixel).
■The DYNAMIXEL X-Series is a new line-up of high performance networked actuators.
For more detailed information, please visit the DYNAMIXEL X-Series Product Information page.
• Improved Torque, Compact Design• Enhanced Durability and Expandability• Hollow Back Case Minimizes Cable Stress (3-Way Wiring)• Frames Directly Screwed onto the Case (No Nuts Needed)• Improved Aluminum Case Heat Sink
• 6 Operating Modes• Current-Based Torque Control (4096 steps, 2.69mA/step)• Profile Control for Smooth Motion Planning• Trajectory Data and Moving Status (In-Position, Following Error, etc.)• Energy Efficient (Standby Current Reduced from 100mA to 40mA)
• 28.4% reduced volume compared to the MX-106
XM540-W150-R
HN13-N101
WASHER
Teflon Washer (for Horn Assembly)
Robot Cable-X4P 180mm
Robot Cable-X4P (Convertible) 180mm
3P Sync Cable 160MM
Wrench Bolt (WB M2.5*5)
Wrench Bolt (WB M2.5*4)
Wrench Bolt (WB M3*8)
8
165
Dimensions (mm)
33.5 x 58.5 x 44
152.3 : 1
6.9
8.9
4.2
4.4
53
66
Coreless
0.088° x 4,096 step
Current Control Mode : Endless turnVelocity Control Mode : Endless turnPosition Control Mode : 360[deg]Extended Control Mode : ±256[rev] Current-based Position Control Mode : ±256[rev] PWM Control Mode : Endless turn
Communication Signal
RS485 Asynchronous Serial Communication (8bit,1stop, No Parity
RS485 Multi Drop Bus
Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
Case : Metal Body(Front, Middle)
Engineering Plastic Body(Back)
Gear : Full Metal
40
■ Performance Comparison
The DYNAMIXEL XH / XM-Series offers a variety of control techniques based on high-performance current sensing algorithms.
It adopts the aluminum case and adopts the new technology such as the hollow cable fastening structure for users’ convenience.
1. 6 Operating Modes
Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control
3. Improved Heat Sink Featuring an Aluminum Case
4. Hollow Back Case Minimizes Cable Stress (3-way-routing)
5. Direct Screw Assembly to the Case (without Nut Insert)
6. Energy Saving (Reduced Current from 100mA to 40mA)
7. 28.4% reduced volume compared to the MX-106
8. Support synchronous control mode
9. Support external I / O port support
XM540-W150-T
Robot Cable-X3P (Convertible) 180mm
■ Compatible Products
Controller : OpenCM 485 Expansion Board, OpenCR1.0
Robot Cable -X4P 180mm (Convertible)
Robot Cable -X4P (by length)
XM540-W270-R
272.5 : 1
10.0
10.6
12.9
28
30
37
XM540-W270-T[902-0137-000]
902-0120-000] DYNAMIXEL XH430-W350-R
• Improved Aluminum Case Heat Sink
• Current-Based Torque Control (4096 steps, 2.69mA/step)
• Trajectory Data and Moving Status (In-Position, Following Error, etc.)
• Energy Efficient (Standby Current Reduced from 100mA to 40mA)
XH430-W350-R
HN12-N101
Robot Cable-X4P
(Convertible) 180mm
Wrench Bolt (WB M2.5*8)
Wrench Bolt (WB M2*3)
Model Number
82
353.5 : 1
Operating Voltage (V)
3.4
1.2
27
ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT)
Contactless Absolute Encoder (12BIT,360°) by AMS
Maxon Motor
10~14.8 (Recommended : 12)
Operating Temperature (°C)
-5 ~ 80
RS485 Asynchronous Serial Communication (8bit, No Parity, 1 Stop)
Link (Physical)
RS485 Multidrop Bus (Daisy Chain)
253 (0~252)
Position, Velocity, Current, Real-Time Tick, Trajectory, Temperature, Input Voltage, etc.
Case : Metal (Front, Middle)
Engineering Plastic (Back)
Gear : Metal
■ Compatible Devices
Embedded Board : OpenCM9.04 & RS485 Expansion Board
PC Interface : USB2Dynamixel (Molex-JST Convertible Cable is required)
■ Development Environment
RoboPlus 2.0 (GUI Software) : download
OpenCM IDE : download</
