(全商品:430点)
[903-0262-000] TB3 Ball Caster-A01 (1ea)
■ Description
TurtleBot3 Ball Caster
Compatible with 6mm plate and can be connected to the TB3 Waffle Plate.
■ Basic Components
Components
Quantity
Frame
TB3 Ball Caster (Frame Steel Ball)
1
Screw
PHS M2x6 TAP-K
5
Rivet
Rivet (SRV-1I)
■ How to Use
■ Compatible Products
TB3 Waffle Plate IPL-01
6mm parts
■ Hyperlinks
Download Drawing : Click Here
3D Printing STL File : Click Here
Download Assembly Guide : TurtleBot3 Burger
Download Assembly Guide : TurtleBot3 Waffle
■ 特徴
- OpenCM9.04は32bit ARM Cortex-M3を利用、H/W 及び S/W 公開のオープンソースロボット制御器です。
- 3PINコネクターを利用、(株)ロボティスのTTL通信のダイナミックセルをすべて制御できます。別の外部ダウンローダーなくてスマートフォン用USB Cable(Micro-B)でダウンロードできます。
- 専用開発ツール[ROBOTIS OpenCM]で優しくて便利なC/C++ プログラミングを支援します。
- JTAG / SWD を通じて他の開発プログラムの利用ができます。
■ 基本構成品
A Type
構成品
数量
制御器
OpenCM9.04_A
1個
マニュアル
仕様説明書
■ H/W 仕様
CPU
STM32F103CB (ARM Cortex-M3)
使用電圧
7V ~ 16V (USB 5V, DYNAMIXEL 12V)
外部 I/O
26
Timer
8
Analog In(ADC)
10 (12bit)
Flash
128 Kbytes
SRAM
20 Kbytes
Clock
72Mhz
USB
1 (2.0 Full Speed)
CAN
USART
3
SPI
2
I2C(TWI)
Debug
JTAG & SWD
TTL port (3Pin)
4 ( Dynamixel, XL-Series 兼用 )
External Sensor(5 Pin)
4 ( ROBOTIS Sensor 使用可能 )
大きさ
27 mm X 66.5 mm
重さ
13g
Controller Compatibility Chart : Click Here
Software RoboPlus (R+) : Click Here
Link to e-Manual : Click Here
■ 注意
すっぴんです。
- Dynamixel 使用の時、必ず別の電源をDynamixel に入れてください。
Operating Voltage
External I/O
Controller
OpenCM9.04_C
Socket
1x20 PIN Header Socket
1x20 BOX Header Socket
Cable
USB Downloader Cable
Manual
Instruction Manual
The OpenCM9.04 board is required in order to use the 485 Expansion Board. Please purchase the OpenCM9.04 board separately.
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
DYNAMIXEL
XM540-W150-T
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
■ 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
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
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.
[903-0271-000] TB3 Caterpillar-ICT-01 (40ea)
TurtleBot3 Caterpillar parts
Can be used with TB3 Wheel after assembling all the Caterpillar parts.
For more details, please refer to the TurtleBot3 Friends (Tank).
TB3 Caterpillar-ICT-01
40
* TB3 Wheel on the image is not included
* The color in this image has been changed for identification. The actual color is black.
STL Drawing : Click here
XW540-T260 -R
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
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)
■ Various Cabling Methods
■ Key Names
XH430-W350-R
HN12-N101
Robot Cable-X4P 180mm
Robot Cable-X4P
(Convertible) 180mm
Wrench Bolt (WB M2.5*8)
Wrench Bolt (WB M2*3)
Model Number
Weight (g)
82
Dimensions (mm)
28.5 x 46.5 x 34
Gear Ratio
353.5 : 1
Operating Voltage (V)
11.1
12
14.8
Stall Torque (N.m)
3.1
3.4
4.2
Stall Current (A)
1.2
1.3
1.5
No Load Speed (RPM)
27
30
37
MCU
ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT)
Position Sensor
Contactless Absolute Encoder (12BIT,360°) by AMS
Motor
Maxon Motor
Resolution
0.088° x 4,096 steps
Operating Range
Position Control Mode : 360°
Velocity Control Mode : Endless Turn
Input Voltage (V)
10~14.8 (Recommended : 12)
Operating Temperature (°C)
-5 ~ 80
Command Signal
Digital Packet
Protocol Type
RS485 Asynchronous Serial Communication (8bit, No Parity, 1 Stop)
Link (Physical)
RS485 Multidrop Bus (Daisy Chain)
ID
253 (0~252)
Baud Rate
9600 bps ~ 4.5 Mbps
Feedback
Position, Velocity, Current, Real-Time Tick, Trajectory, Temperature, Input Voltage, etc.
Material
Case : Metal (Front, Middle)
Engineering Plastic (Back)
Gear : Metal
Standby current (mA)
■ 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.
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.
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 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)
- OpenCM9.04-Aで使用可能なコネクターセットです。
半田技術の授業に最適です。XMシリーズのコネクタがついてない。
1x20 PIN Header Socket(Pitch 2.54mm)
2個
1x20 BOX Header Socket(Pitch 2.54mm)
2x5 PIN Header Socket(Pitch 2mm)
1x4 PIN Header Socket(Pitch 2mm)
Connecter
MOLEX-5267-03
4個
MOLEX-53253-0370
20010WS-02
Switch
INCA-2-SWITCHS(Pitch 2.54mm)
20010WS-04
USB Micro B Cable
[905-0022-000] RH-P12-RN
1-DOF Two-Finger Hand
Multi-functional robot hand with 2 fingers powered by 10W DC motor.
Adaptive Gripping Design
Passive Joints enable adaptive gripping for various shapes of objects.
Current Control (Force Control)
Torque control and current-based position control make it possible to pick up objects of various materials.
Light Weight & High Power
a 5kg high payload is delivered from a 500g light weighted robot hand.
Detachable Finger Tips
Detachable finger tips can be easily replaced with customized finger tips.
Intuitive and Simple Mounting
The robot band can be quickly mounted on a ROBOTIS Manipulator.
Simplified design enables easy mounting on custom applications.
Dynamixel 2.0 Protocol
The robot hand supports DYNAMIXEL 2.0 protocol for easy control.
Power and communication are connected via DYNAMIXEL BUS.
Please make necessary modifications to ID, baud rate, etc. after purchase
BT-210 : 4.51g
BT-210 : 18mm x 30mm x 9.1mm
仕様
Bluetooth Specification 2.1 Support
(BT-210)
有効通信距離
約10 M
周波数帯域
2.4 GHz ISM Band
Bandwidth
MAX 250kbps
基本通信速度(変更不可)
57600bps
Sensitivity
-81dBm (Typical)
Transmit Power
4dBm(Typical)
プロファイル
SPP (Serial Port Profile)
駆動電圧
3.3V
消費電流
48mA (Max)
使用温度範囲
-40℃ ~ 85℃
通信速度
1,200bps – 400,000bps ※仕様上の数値
アンテナ
Chip Antenna
インタフェース
UART (3.3V level)
Flow Control
(BT-100)
RTS, CTS support
None
無線通信モジュール
BT-210 (120mm 接続ケーブル付属)
•改善されたトルク、コンパクト設計
■基本機能
は
[913-3023-000] Tool (TL)
■ Components
12mm Parts
Tool
1 pc
ROBOTIS Robot Hand for Universal Robots e-Series
5kg of high payload is delivered from 500g light weighted robot hand.
The robot band can be quickly mounted on ROBOTIS Manipulator.
Package including RH-P12-RN & Universal Robots e-Series exclusive parts
RH-P12-RN
UR3e
UR5e
UR10e
UR16e
The shape has been changed to increase the durability of the fingertip, which has resulted in a stroke change of 109mm to 106mm.
(Applies to orders shipped out from November 4, 2019)
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