DYNAMIXEL
DYNAMIXEL SYSTEM
Robot Parts
Educational Kits
Support
...

Item Information

XD540-T150-R

12.0V / 7.10Nm / 70.00rpm / Maxon / Long Life / RS-485

SKU 902-0177-000
Price -
If you are interested in this product, please contact us through e-mail. (contactus2@robotis.com)

상품 기본설명

Features

DYNAMIXEL-XD series is a high-performance lineup specially designed for industrial applications. The XD series shares an identical form factor with the XH/XM series and has long lifetime with a robust metal gear. The aluminum housing and the hollow cable assembly technique are adopted to maximize user convenience. 1. 6 Operating Modes (Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control) 2. Profile Control for Smooth Motion Planning 3. Improved Heat Dissipation with Aluminum Housing 4. Hollow Back Housing Minimizes Cable Stress (3-way-routing) 5. Easy and Simple Assembly Structure 6. Energy Efficient (Reduced Standby Current from 100mA to 40mA)

Package Components


ItemQuantity     Description
XD540-T150-R1DYNAMIXEL
HN13-N1011Standard horn for X540 models
Thrust Washer (for Horn Assembly)1Preventing friction between horn and case
Robot Cable-X4P 180mm1                   RS485 4p Cable (JST-JST)
Robot Cable-X4P (Convertible) 180mm 1RS485 4p Cable (MOLEX-JST)
Robot Cable-3P-Sync 160mm 1Cable for Dual Joints

Wrench Bolt WB M2.5x5

16                                  For frame assembly (Side hole)
Wrench Bolt WB M2.5x410For frame assembly
Wrench Bolt WB M3x81For horn assembly
Spacer Ring8For frame assembly
Various Cabling Methods
Drawing

Drawing Download

Compatible Products
Caution

DYNAMIXEL-X Series cable assembly through hollow case

 

Organize the entangled cable before assembling the back case.

Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error.

If you use two cables through the hollow case, the cables will be damaged.

Use only one cable through the hollow case.

 

The DYNAMIXEL-X Series adopted a new gold-plated JST connector for secure and reliable communication.

The connector used for the previous DYNAMIXEL is Molex.

 

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.

Installation Example
Specification
Model Name XD540-T150-R
Series DYNAMIXEL X
MCU ARM 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] 7.10
Stall Current [A] 4.9
No Load Speed [rpm] 70.0
No Load Current [A] 0.07
Continuous Operation Voltage [V] -
Torque [N·m] -
Speed [rpm] -
Current [A] -
Resolution Resolution [deg/pulse] 0.0879000000
Step [pulse/rev] 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) Engineering Plastic(Back)
Dimensions (WⅹHⅹD) [mm] 33.5 x 58.5 x 44
Dimensions (WⅹHⅹD) [inch] 1.32 x 2.30 x 1.73
Weight [g] 170.00
Weight [oz] 5.99
Gear Ratio 152.3 : 1
Backlash [arcmin] -
Backlash [deg] -
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, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc.
Protocol version Protocol 1.0
Protocol 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
1. All international orders are processed via DHL from KOREA (not USA) unless otherwise requested.
2. Orders are normally processed within a 2 week time period. A lead time is applicable for certain items. (Normally ships out within 3 working days when in stock).
3. If multiple orders are placed on the same day, they will be shipped in the same package, unless requested to ship separately by order. If an error is discovered in your order that requires change or cancellation, please contact us immediately. We will not be held responsible for any costs that may arise due to your negligence.
4. Please note that destination charges (import tax, customs duty, etc.) are not included in the shipping charges. We will not be able to calculate or pre-pay this fee for you.
5. If an order is placed and the payment is not settled within 14 days, it will automatically be cancelled. If necessary, please re-place the order and make the payment in a timely manner.
6. We recommend you to insure your orders to avoid lost or damaged shipments which is 1% from the total invoice value. We will not be held responsible for lost or damaged shipments.
1. If you are not completely satisfied with your order you may return it within 14 days from your shipment date for an exchange or refund. However, all non-defective products must be in their original packaging, and un-opened new condition. We will not be held responsible for return shipping charges.
All returns must go through the RMA process prior to being sent back to us.
Please note, we will not make any exchanges or repair unless WE HAVE ISSUED YOU AN RMA#.
Please check warranty.
2. Returned packages must include an RMA number on the outside of the package, as well as a copy of your printed invoice.
If you do not have your invoice, please include your name, address and phone number, so we may contact you regarding any questions we may have.
We have the right to refuse your shipment if we have not issued a RMA nubmer.
3. All returned items must be in there original package state. We are not responsible for damage to the print-head or circuitry as a result of improper handling, storage, or misuse.
When removing protective tape and devices please be sure not to damage these areas.
4. Requests for replacement or refunds will not be granted until your returned packages have been received.
5. Please allow up to 14 business days to process your refund from the time it reaches our warehouse, if you need an immediate replacement, we recommend that you place a new order and request a refund of the original order separately. We will not be held responsible for cancellatioin fees.
6. When returning any items, please confirm return address and keep note of the tracking number to avoid losing shipments.
We will not be held responsible for lost items.
7. We reserve the right to deny credit or replacements and charge the customer for parts and labor if the product returned are deemed satisfactory or non-defective.
8. We are not responsible for customer shipping costs to return non-defective or incorrectly ordered products.
9. Customers must obtain a Return Material Authorization('RMA') number by contacting Customer Service at contactus2@robotis.com. Returned products should be informed in advance before being returned.