（全商品：430点）
名称
Dynamixel XL-320
重量
16.7 g
サイズ
24mm x 36mm x 27mm
ギヤ比
238 : 1
定格電圧 (V)
7.4
ストールトルク (kg・cm)
3.82
無付加回転数 (RPM)
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
電圧範囲
6~8.4V (定格 : 7.4V)
温度範囲
-5°C ~ 70°C
通信形式
Digital Packet
プロトコル
半二重シリアル通信(8bit,1stop,No Parity)
DXL2.0
接続
TTL レベルマルチドロップ接続
(デイジーチェーン接続)
ID
253 ID (0~252)
通信速度
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.
材質
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
The XL330 series is a compact and lightweight DYNAMIXEL which is very useful solution when building a small application or operating DYNAMIXELs in a small space. Unlike previous entry level models, the voltage range is 3.7V ~ 6V and XL330 comes with various operating modes including Current Based Position Control and Current Control.
1.Various Operating Modes
Velocity Control, Position Control, Extended Position Control, PWM Control, Current Control, Current Based Position Control
2.Profile Control for Smooth Motion Planning
3.Input Voltage : 3.7V ~ 6V ( Recommended 5V)
4.Small sized DYNAMIXEL model - Dimension : 20 X 34 X 25 (WⅹHⅹD) [mm] & Weight : 18g
5.Support RC Protocol without additional converting device
6.Energy Saving with Reduced Current
Controller : Arduino MKR Shield
Interface : USB2Dynamixel, U2D2
ID : 1
Baud Rate : 57600bps
(User can change various settings including ID and baud rate according to environment)
Controller : Arduino MKR ShieldInterface : USB2Dynamixel, U2D2
The XC330 series is a compact and lightweight DYNAMIXEL.XC330 series is an upgraded version of XL330 series. It enhanced its durability by applying Metal Gear and Bearing.
* Please purchase the frames for the X330 models separately.
* The idler and the idler cap are included in the FPX330-H101 4PCS Set. (Not sold as a standalone.)
*Please be aware that the voltage range is 3.7V ~ 6V.
Drawing Download
■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
1
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
Gear Ratio
258.5 : 1
Operation Voltage (V)
9.0
11.1
12.0
Stall Torque (N.m)
1.0
1.4
1.5
Stall Current (A)
1.3
No Load Speed (RPM)
47
57
61
MCU
ST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT)
Position Sensor
Contactless absolute encoder (12BIT,360°) by AMS
Motor
Cored
Resolution
0.088° x 4,096 steps
Operating Range
Position Control Mode : 360°
Velocity Control Mode : Endless Turn
Input Voltage (V)
6.5~12.0V (Recommended voltage : 11.1V)
Operating Temperature
-5°C ~ 72°C
Command Signal
Protocol Type
Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity)
Link (physical)
TTL Level Multi Drop Bus
Baud Rate
9600 bps ~ 4.5 Mbps
Feedback
Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
Material
Case : Engineering Plastic
Gear : Engineering Plastic
Standby current (mA)
52
■ Default Settings
*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
RS-485
DYNAMIXEL XC430-W150-T
XL-430シリーズの上位機種で
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
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.
DYNAMIXEL XC430-W240-T
This product applies metal ball bearings to the XC430 series instead of plastic bushing. This change improves the durability of vertical loads on the axis of rotation. Other specifications are the same as the existing XC430 series.
(Velocity Control, Position Control, Extended Position Control, PWM Control)
4. Easy and Simple Assembly Structure
5. Energy Saving with Reduced Current
6. Increase vertical load durability by using metal ball bearings
Not included Idler Set (HN11-i101 Set)
DYNAMIXEL-X Series cable assembly through hollow case
The DYNAMIXEL-X Series adopted a new gold-plated JST connector for secure and reliable communication.
To control DYNAMIXEL-X Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.
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
ID(A) : 1
ID(B) : 2
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).
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。
■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)
16
Wrench Bolt (WB M2.5*4)
10
Wrench Bolt (WB M3*8)
8
165
Dimensions (mm)
33.5 x 58.5 x 44
152.3 : 1
14.8
6.9
7.3
8.9
4.2
4.4
5.5
50
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
10~14.8V (Recommended voltage : 12V)
-5°C ~ 80°C
Communication Signal
Protocol
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]
DYNAMIXEL XW series are ROBOTIS’ first line of IP Level models, featuring a certified IP68 (1m, 24hr) rating and are designed for use in wet environments, underwater, and any outdoor applications where a sealed servo is necessary.
* XW series come with separate waterproof cable and extension cable.
(Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control)
4. Direct Screw Assembly to the Case (without Nut Insert)
5. Energy Saving (Reduced Current from 100mA to 40mA)
6. 31% reduced volume compared to the MX-28
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.
DYNAMIXEL XW series uses a waterproof cable.
XW540-T260 -R
詳細については、ダイナミクセルXH430-W210-Mシリーズ製品情報をご覧ください。
[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)
12
3.1
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
SDK : download
Drawings : download
E-manual : link
The DYNAMIXEL X-Series adopted a new gold-plated
JST connector for secure and reliable communication.
To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel,
please use the JST-Molex Convertible Cable enclosed in the package.
DYNAMIXEL Xシリーズは、高性能ネットワークアクチュエータの新しいラインナップです。
詳細については、DYNAMIXEL Xシリーズ製品情報ページをご覧ください。
•改善された速度、コンパクト設計
•強化された耐久性と拡張性
•ケーブルストレスを最小限にする中空の背面ケース（3方向配線）
•ケースをフレームに直接ねじ込み（ナットは不要）
•改善されたアルミニウムケースのヒートシンク
•6つの動作モード
•電流ベースのトルク制御（4096ステップ、2.69mA /ステップ）
•スムーズな動作計画のためのプロファイル制御
•軌道データと移動ステータス（インポジション、フォローエラーなど）
•エネルギー効率（スタンバイ電流を100mAから40mAに低減）
•改善されたトルク、コンパクト設計
■基本機能
DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.
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.
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).
DYNAMIXEL XW430シリーズ専用アイドラーホーン
