DYNAMIXEL XW540-T140-R
Product Code: ROBT 902-0160-000
Features
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.
- 6 Operating Modes
Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control
- Profile Control for Smooth Motion Planning
- Improved Heat Sink Featuring an Aluminum Case
- Direct Screw Assembly to the Case (without Nut Insert)
- Energy Saving (Reduced Current from 100mA to 40mA)
- 28.4% reduced volume compared to the MX-106
Package Components
| XW540-T140-R | 1 |
|---|---|
| HN13-N105 | 1 |
| Robot Cable-WP 1000mm | 1 |
| Robot Cable-WP 1000mm(Extension) | 1 |
| Wrench Bolt WB M2.5x5 | 16 |
| Wrench Bolt WB M2.5x4 | 10 |
| Wrench Bolt WB M3x10 | 1 |
Compatible Products
- Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0
- Interface : USB2Dynamixel, U2D2
Specification
| Model Name | XW540-T140-R | |
|---|---|---|
| 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] | 12.0 |
| Stall Torque [N·m] | 6.90 | |
| Stall Current [A] | 4.9 | |
| No Load Speed [rpm] | 72.0 | |
| No Load Current [A] | 0.07 | |
| Continuous Operation | Voltage [V] | - |
| 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 | Metal | |
| Case Material | Metal(Front, Middle, Back) | |
| Dimensions (WⅹHⅹD) [mm] | 33.5 x 58.5 x 45.9 | |
| Dimensions (WⅹHⅹD) [inch] | 1.32 X 2.30 X 1.73 | |
| Weight [g] | 185.00 | |
| Weight [oz] | 5.82 | |
| Gear Ratio | 145.6:1 | |
| Command Signal | Digital Packet | |
| Protocol Type | Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity) |
|
| Link (Physical) | RS485 Multi Drop Bus | |
| ID | 0 ~ 252 | |
| Feedback | Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc. | |
| Protocol version | 1.0 2.0(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 | |
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