Features

DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in

one DC servo module.

DYNAMIXEL PRO Series implements removable reduction cycloid gears, resulting in high precision and impact resistance.

 

Torque control based on current sensing

Position, Torque and Speed-based command

High resolution with combination of Incremental Encoder and Contactless Absolute Encoder

Full metal housing for high durability

Can be used to make a full-size manipulator, pan tilt, humanoid, etc.

 

Package Components


M54-60-S250-R1
Robot Cable-X4P 600mm2
Wrench Bolt WB M3x820
Compatible Products

Controller : OpenCM 485 Expansion Board, OpenCR1.0

Interface : USB2Dynamixel, U2D2

Factory Default Settings

ID : 1

Baud Rate : 57600bps


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

Caution

The operational voltage is different from other DYNAMIXEL series (Operational voltage: 24V).

Depending on the number of units used, it is recommended to use a separate power supply.

Molex 4Pin connector is used for communication.

Specification
Model Name M54-60-S250-R
MCU Cortex-M4 (168 [Mhz], 32 [bit])
Input Voltage Min. [V] -
Recommended [V] 24.0
Max. [V] -
Performance Characteristics Voltage [V] 24.0
Stall Torque [N·m] -
Stall Current [A] -
No Load Speed [rpm] 33.1
No Load Current [A] 1.25
Continuous Operation Voltage [V] 24.0
Torque [N·m] 10.1
Speed [rpm] 28.3
Current [A] 3.0
Resolution Resolution [deg/pulse] 0.0014
Step [pulse] 251,417
Angle [degree] 360
Position Sensor Contactless absolute encoder
Incremental encoder
Operating Temperature Min. [°C] 5
Max. [°C] 55
Motor BLDC (Maxon)
Baud Rate Min. [bps] 9,600
Max. [bps] 10,500,000
Control Algorithm PID
Gear Type Cycloid
Gear Material Precious Metal
Case Material Precious Metal
Dimensions (WⅹHⅹD) [mm] 54.0 X 126.0 X 54.0
Dimensions (WⅹHⅹD) [inch] 2.13 x 4.96 x 2.13
Weight [g] 853.00
Weight [oz] 30.09
Gear Ratio 251.4 : 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, Temperature, Voltage, External Port, etc
Protocol version 2.0
Operating Mode / Angle Torque Control Mode
Velocity Control Mode
Position Control Mode
Extended Position Control Mode
Output [W] 60
Standby Current [mA] -