■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.
■ Basic Features
• 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
■ Various Cabling Methods
■ Package Contents
Description
Quantity
DYNAMIXEL
XM540-W150-R
1
HORN
HN13-N101
WASHER
Teflon Washer (for Horn Assembly)
CABLE
Robot Cable-X4P 180mm
Robot Cable-X4P (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
Model Name
Weight (g)
165
Dimensions (mm)
33.5 x 58.5 x 44
Gear Ratio
152.3 : 1
Operation Voltage (V)
11.1
12.0
14.8
Stall Torque (N.m)
6.9
7.3
8.9
Stall Current (A)
4.2
4.4
5.5
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
-5°C ~ 80°C
Communication Signal
Digital Packet
Protocol
RS485 Asynchronous Serial Communication (8bit,1stop, No Parity
Link (physical)
RS485 Multi Drop Bus
ID
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
■ Default Settings
ID : 1
Baud Rate : 57600bps
*Please make necessary modifications to ID, baud rate, etc. after purchase.
■ Performance Comparison
■ 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
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