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)
■ 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
XH540-W270-T
1
HORN
HN13-N101
WASHER
Teflon Washer (for Horn Assembly)
CABLE
Robot Cable-X3P 180mm
Robot Cable-X3P (Convertible) 180mm
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
MCU
Cortex-M3 (72 [Mhz], 32 [bit])
Input Voltage
Min. [V]
10.0
Recommended [V]
12.0
Max. [V]
14.8
Performance Characteristics
Voltage [V]
Stall Torque [N·m]
9.90
Stall Current [A]
4.9
No Load Speed [rpm]
39.0
No Load Current [A]
0.07
Continuous Operation
-
Torque [N·m]
Speed [rpm]
Current [A]
Resolution
Resolution [deg/pulse]
0.0879
Step [pulse]
4,096
Angle [degree]
360
Position Sensor
Contactless absolute encoder (12 [bit], 360 [deg])Maker : ams(www.ams.com), Part No : AS5045
Operating Temperature
Min. [°C]
-5
Max. [°C]
80
Motor
Coreless (Maxon)
Baud Rate
Min. [bps]
9,600
Max. [bps]
4,500,000
Control Algorithm
PID
Gear Type
Spur
Gear Material
Precious Metal
Case Material
Precious Metal(Front, Middle)Engineering Plastic(Back)
Dimensions (WⅹHⅹD) [mm]
33.5 X 58.5 X 44
Dimensions (WⅹHⅹD) [inch]
1.32 X 2.30 X 1.73
Weight [g]
165.00
Weight [oz]
5.82
Gear Ratio
272.5 : 1
Command Signal
Digital Packet
Protocol Type
Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical)
TTL Level Multi Drop Bus
ID
0 ~ 252
Feedback
Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc.
Protocol version
1.02.0(Default)
Operating Mode / Angle
Current Control mode:Endless turn Velocity Control mode:Endless turn Position Control Mode:360 [deg] Extended Position Control Mode:±256 [rev] Current-based Position Control Mode:±256 [rev] PWM Control Mode:Endless turn
Output [W]
Standby Current [mA]
40
■ Compatible Products
Controller : OpenCM 485 Expansion Board, OpenCR1.0
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