DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Controller + Driver + Sensor + Reduction Gear + Network in one DC servo module.
DYNAMIXEL-P 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.
[DYNAMIXEL PRO -> P] Upgrade Details
- Improved design and JST connectors applied
- Improved dirt inflow and leakage
- Improved control table (Supports X Series functions)
- Enhanced control performance such as responsiveness and resolution
- Enhanced communication responsiveness
- Improved heat, noise, and durability
PH54-100-S500-R | 1 | DYNAMIXEL |
Robot Cable-X4P 300mm(Convertible) | 1 | RS485 4p Cable(MOLEX-JST) |
Robot Cable-X4P 300mm | 1 | RS485 4p Cable(JST-JST) |
Power Cable-2P 600mm | 1 | For power connection |
Wrench Bolt WB M3x8 | 20 | For frame assembly |
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.
JST 4Pin connector is applied for communication.
The 54-series can NOT use the old hinge frames.
NOT COMPATIBLE with FRP54-H110/120/210/220)
Model Name | PH54-100-S500-R | |
---|---|---|
Series | DYNAMIXEL P | |
MCU | ARM 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] | 33.0 | No Load Current [A] | 1.13 |
Continuous Operation *) | Voltage [V] | 24.0 | Torque [N·m] | 25.3 | Speed [rpm] | 29.2 | Current [A] | 5.5 |
Resolution | Resolution [deg/pulse] | 0.0004000000 | Step [pulse/rev] | 1,003,846 | 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 | Metal | |
Case Material | Metal | |
Dimensions (WⅹHⅹD) [mm] | 54.0 x 108.0 x 54.0 | |
Dimensions (WⅹHⅹD) [inch] | 2.13 x 4.25 x 2.13 | |
Weight [g] | 740.00 | |
Weight [oz] | 26.10 | |
Gear Ratio | 501.9 : 1 | |
Backlash [arcmin] | 6 | |
Backlash [deg] | 0.10 | |
Command Signal | Digital Packet | |
Protocol Type | Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity) | |
Link (Physical) | RS485 Multidrop Bus | |
ID | 0 ~ 252 | |
Feedback | Position, Velocity, Current, Temperature, Voltage, External Port, etc | |
Protocol version | Protocol 2.0 Modbus | |
Operating Mode / Angle | Current Control mode:Endless turn Velocity Control mode:Endless turn Position Control Mode:360 [deg] Extended Position Control Mode PWM Control Mode:Endless turn | |
Output [W] | 100 | |
Standby Current [mA] | 40 |