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XL330-M288-T[902-0163-000]

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XL330-M288-T [902-0163-000]
5V, High Gear Ratio, TTL
360度動作、非接触式磁気エンコーダ、
電流(トルク)制御、時間ベース制御、PWM信号対応
Features

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


Package Components
XL330-M288-T1
Robot Cable-X3P 180mm1
Bolt M2x6 TAP6
Bolt M2x8 TAP10
Compatible Products

Controller : Arduino MKR Shield

Interface : USB2Dynamixel, U2D2

Factory Default Settings

ID : 1 

Baud Rate : 57600bps


(User can change various settings including ID and baud rate according to environment)

Specification
Model NameXL330-M288-T
MCUCortex-M0+ (64 [MHz], 32bit)
Input VoltageMin. [V]3.7
Recommended [V]5.0
Max. [V]6.0
Performance CharacteristicsVoltage [V]5.0
Stall Torque [N·m]0.52
Stall Current [A]1.5
No Load Speed [rpm]104.0
No Load Current [A]0.15
Continuous OperationVoltage [V]-
Torque [N·m]-
Speed [rpm]-
Current [A]-
ResolutionResolution [deg/pulse]0.0879
Step [pulse]4,096
Angle [degree]360
Position SensorContactless absolute encoder (12Bit, 360 [deg])
Maker : ams(www.ams.com), Part No : AS5601
Operating TemperatureMin. [°C]-5
Max. [°C]60
MotorCored
Baud RateMin. [bps]9,600
Max. [bps]4,500,000
Control AlgorithmPID
Gear TypeSpur
Gear MaterialEngineering Plastic
Case MaterialEngineering Plastic
Dimensions (WⅹHⅹD) [mm]20 X 34 X 26
Dimensions (WⅹHⅹD) [inch]0.78 X 1.33 X 1.02
Weight [g]18.00
Weight [oz]0.63
Gear Ratio288.4 : 1
Command SignalDigital Packet
Protocol TypeHalf duplex Asynchronous
Serial Communication (8bit, 1stop, No Parity)
Link (Physical)TTL Level Multi Drop Bus
ID0 ~ 252
FeedbackPosition, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Protocol versionProtocol 2.0
Operating Mode / AngleCurrent 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]15

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