(全商品:430点)
XM540-W270-T[902-0137-000]
■ Basic Features
DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor Reduction Gearhead Controller Driver Network in one DC servo module.
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
2. Profile Control for Smooth Motion Planning
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
■ Package Contents
Description
Quantity
DYNAMIXEL
XM540-W150-T
1
HORN
HN13-N101
WASHER
Teflon Washer (for Horn Assembly)
CABLE
Robot Cable-X3P 180mm
Robot Cable-X3P (Convertible) 180mm
3P Sync Cable 160MM
BOLT/NUT
Wrench Bolt (WB M2.5*5)
16
Wrench Bolt (WB M2.5*4)
10
Wrench Bolt (WB M3*8)
ETC
Spacer Ring
8
■ H/W Specifications
Controller : OpenCM 485 Expansion Board, OpenCR1.0
Interface : USB2Dynamixel, U2D2
■ Default Settings
ID : 1
Baud Rate : 57600bps
*Please make necessary modifications to ID, baud rate, etc. after purchase.
■ Performance Comparison
■ Model Numbering
■ Caution
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 DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication.
The connector used for previous Dynamixel is Molex.
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 -X4P 180mm (Convertible)
JST-4P
RS-485
■ Compatible Products
■ Various Cabling Methods
Robot Cable -X4P (by length)
■ 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
モデル名
Dynamixel MX-64AT
重量
135g
サイズ
40.2mm x 61.1mm x 41mm
ギヤ比
200 : 1
電圧 (V)
11.1
12
14.8
ストールトルク (N.m)
5.5
6
7.3
ストール電流 (A)
3.9
4.1
5.2
無付加回転数 (RPM)
58
63
78
搭載モータ
マクソン コアレスモータ
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
現在電流、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-64AT
サーボホーン
HN05-N102
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*4
キャップボルト M3*8
ナット M2.5
18
■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
Robot Cable-X4P 180mm
Robot Cable-X4P (Convertible) 180mm
Model Name
Weight (g)
165
Dimensions (mm)
33.5 x 58.5 x 44
Gear Ratio
152.3 : 1
Operation Voltage (V)
12.0
Stall Torque (N.m)
6.9
8.9
Stall Current (A)
4.2
4.4
No Load Speed (RPM)
50
53
66
MCU
ST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT)
Position Sensor
Contactless absolute encoder (12BIT,360°) by AMS
Motor
Coreless
Resolution
0.088° x 4,096 step
Operating Range
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
Input Voltage (V)
10~14.8V (Recommended voltage : 12V)
Operating Temperature
Communication Signal
Digital Packet
Protocol
RS485 Asynchronous Serial Communication (8bit,1stop, No Parity
Link (physical)
RS485 Multi Drop Bus
253 ID (0~252)
Baud Rate
9600 bps ~ 4.5 Mbps
Feedback
Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
Material
Case : Metal Body(Front, Middle)
Engineering Plastic Body(Back)
Gear : Full Metal
Standby current (mA)
40
XM540-W270-R
272.5 : 1
10.0
10.6
12.9
28
30
37
0.088° x 4,096 steps
Dynamixel MX-64AR
マクソンコアレスモータ
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-64AR
RS-485 4P Cable 200mm
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
Manipulator Base Plate[905-0019-000]用のベースプレート
[905-0019-000] Manipulator Base Plate
■ Description
This base plate made of aluminum is used to fix the ROBOTIS Manipulator-H to a table.
Use a clamp or the holes on the plate to fix onto the plate. [Clamp not included]
Qty
Weight
Frame
Base Plate (450mm x 330mm)
2.15 kgs
Angle
2
30g/ea
Screw
Wrench Bolt(WB M3*8)
-
■ Installation Method
1. Fix the ‘ㄱ’ shaped angle with the bolt to the Manipulator joint #1
2. The photo on the left is the external wiring for the arm. Label #1 shows a pair of 4P cables and power connector; these connect to joint #1 as shown on the right picture.
3. Once the connections are complete, fix the arm to the base plate as shown on the photo below.
4. Label #2 shows a 4P connector and 4 power connectors and these connect to the power expansion hub and the 4P cable connects to the extension.
5. Connect the USB2Dynamixel to the hub with the 4P cable; connect another port of the 4P hub to the extension.
■ Drawings
LINK
小型・高耐久のサイクロイド減速機 | 外形43mm角 | 速度伝達比33
小型・高耐久のサイクロイド減速機 | 外形43mm角 | 速度伝達比51
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
Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0
(User can change various settings including ID and baud rate according to environment)
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.
4. Easy and Simple Assembly Structure
Drawing Download
DYNAMIXEL XW series uses a waterproof cable.
DYNAMIXEL-P Series implements removable reduction cycloid gears, resulting in high precision and impact resistance.
- Torque control based on current sensing
- Position, Torque and Speed-based command
- High resolution with combination of Incremental Encoder and Contactless Absolute Encoder
- Full metal housing for high durability
- Can be used to make a full-size manipulator, pan tilt, humanoid, etc.
[DYNAMIXEL PRO -> P] Upgrade Details
- Improved design and JST connectors applied
- Improved dirt inflow and leakage
- Improved control table (Supports X Series functions)
- Enhanced control performance such as responsiveness and resolution
- Enhanced communication responsiveness
- Improved heat, noise, and durability
●キット内容(平均約20分で組み立て可能)・クローラCuGo組立済×2台・アルミフレーム2020・ブラケット×8・コントローラー・モータードライバ×2オプションバッテリー18,000円(税抜)CuGo用CuboRex社オリジナルESCに変更7000円(税抜)●キット内容(平均約20分で組み立て可能)
小型・高耐久のサイクロイド減速機 | 外径Φ68 | 速度伝達比51
小型・高耐久のサイクロイド減速機 | 外径Φ68 | 速度伝達比99
XW540-T260 -R
24V / 0.3Nm / 4,583rpm / BLDC / RS-485 / Multi-turn encoder
YM070-210-M001-RHは減速機を含まず、目的に応じて減速機、リニアアクチュエータ、サーボシリンダーなど様々な製品と組み合わせて使用することができます。
上の画像は理解を助けるためにレデューサーを含めた分解図です。本製品には減速機は含まれておりません。
出荷時はマルチターンバックアップバッテリーは本体に接続れていませんのでご注意ください。使用前にマルチターンバックアップバッテリーを本体に接続して、初期化を行ってください。
図面のダウンロード
FeatureThis product is a compact version of OpenManipulator based on ROS.It has a high payload as DYNAMIXEL XM-430 model is applied. Easy to use with PC or mobile platform such as TB3 Waffle Pi. Provides source code and development environment which helps you immediately operate it with TB3 Waffle PiYou can freely select and use either PC or Controller e.g. OpenCR.Provides a variety of open source software as well as 3D drawings and CAD data for research and development.
XM430-W350-T
5
Exclusive Plastic Frame Set
FR12-H101K
FR12-H104K
FR12-S101K
FR12-S102K
HN12-I101 Set
3
HN11-I101 Set (spare)
Robot Cable Set X3P (by length)
Bolt & Nut Set
Rubber Pad (Finger Tip)
2 types x 2
Phillips Screwdriver
Allen Wrench (by type)
H/W Specification
Power Supply (sold separately)
12V
Freedom of degree
5 (4DOF 1DOF Gripper)
Payload
500g
RPM (joint)
46RPM
Weight (assembly)
700g
Length
380mm
Gripper stroke
20~75mm
Interface
TTL Level Multi Drop BUS
Software
ROS. DYNAMIXEL SDK, Arduino, Processing
Controller (sold separately)
PC, OpenCR
Various Applications
Sold Seperately
Power Supply
SMPS 12V 5A
Controller
OpenCR or PC
Etc.
Base Plate-02
CautionDYNAMIXEL, power supply, and controller are not included.Please purchase separately.
Compatible with TB3 controller and power.
The assembly Manuel is not included, but you can download the pdf file on online for free. (Refer to below link)The necessary idler set (HN11-I101 Set) is included in case you would like to use DYNAMIXEL XL430 as a hinge.(* Need to purchase DYNAMIXEL XL430 separately)
Dynamixel Pro series is a self-developed high performance all-in-one actuator equipped with a cycloid reducer.
Torque control based on current sensing
Increased reliability and accuracy for position and speed control through PID control
High resolution with combination of Incremental Encoder and Contactless Absolute Encoder
Full metal housing for high durability
Can be used to make a full-size manipulator, pan tilt, humanoid, etc.
[Dynamixel PRO ] Upgrade Details
Improved design and JST connectors applied)
Improved dirt inflow and leakage (54-Series)
Improved control table (Supports X-series functions)
Enhanced control performance such as responsiveness and resolution
Enhanced communication responsiveness
Improved heat, noise, and durability
The operational voltage is different from other DYNAMIXEL series (Operational voltage: 24V).
Depending on the number of units used, it is recommended to use a separate power supply.
JST 4Pin connector is applied for communication.
The 42 series uses the same hinge frames.(FRP42-H110/120)
24V / 0.6Nm/ 2,292rpm / BLDC/ RS-485 / Multi-turn encoder
YM080-230-M001-RHには減速機は含まれておりませんので、減速機など様々な製品と組み合わせてご利用いただけます、リニアアクチュエータ・サーボシリンダなど、用途に応じて様々な製品との組み合わせが可能です。
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