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
Package Contents
Description
|
Quantity
|
DYNAMIXEL
|
XM540-W270-R
|
1
|
HORN
|
HN13-N101
|
1
|
WASHER
|
Teflon Washer (for Horn Assembly)
|
1
|
CABLE
|
Robot Cable-X4P 180mm
|
1
|
Robot Cable-X4P (Convertible) 180mm
|
1
|
3P Sync Cable 160MM
|
1
|
BOLT/NUT
|
Wrench Bolt (WB M2.5*5)
|
16
|
Wrench Bolt (WB M2.5*4)
|
10
|
Wrench Bolt (WB M3*8)
|
1
|
ETC
|
Spacer Ring
|
8
|
H/W Specifications
Model Name
|
XM540-W270-R
|
Weight (g)
|
165
|
Dimensions (mm)
|
33.5 x 58.5 x 44
|
Gear Ratio
|
272.5 : 1
|
Operation Voltage (V)
|
11.1
|
12.0
|
14.8
|
Stall Torque (N.m)
|
10.0
|
10.6
|
12.9
|
Stall Current (A)
|
4.2
|
4.4
|
5.5
|
No Load Speed (RPM)
|
28
|
30
|
37
|
|
MCU
|
ST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT)
|
Position Sensor
|
Contactless absolute encoder (12BIT,360°) by AMS
|
Motor
|
Coreless
|
Resolution
|
0.088° x 4,096 steps
|
Operating Range
|
Current Control Mode : Endless turn Velocity Control Mode : Endless turn Position 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.
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.
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
|
OpenCM+485 Expansion Board
|
Molex (3P, 4P)
|
Robot Cable -X4P 180mm (Convertible)
|
JST-4P
|
RS-485
|
USB2Dynamixel
|
OpenCR1.0
|
JST (3P, 4P)
|
Robot Cable -X4P (by length)
|
U2D2
|