XM540-W150-T

Name: XM540-W150-T
SKU: 902-0136-000
Availability: InStock

$646.00 ex. GST ($710.60 inc. GST - only Aust. customers are charged GST)

The DYNAMIXEL X-Series is a new line-up of high performance networked actuators.

Description

■ XM540-W150-T

■ Basic Features

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
Hollow back case minimizes cable stress (3-way-routing)
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
Supports synchronous control mode
Supports external I/O port

■ Package Contents

Description		Quantity
DYNAMIXEL	XM540-W150-T	1
HORN	HN13-N101	1
WASHER	Teflon Washer (for Horn Assembly)	1
CABLE	Robot Cable-X3P 180mm	1
	Robot Cable-X3P (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

■ Key Names

■ Model Numbering

■ How to Use

■ Various Cabling Methods

■ Please note:

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. For more information, please see the [DYNAMIXEL Connector Standard] page on ROBOTIS’ 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.

Controller / Interface Board		Cable	Dynamixel X
Model	Supports Connectors :		Supports Connectors :	Communication
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 -X3P 180mm (Convertible)	JST-4P	RS-485
USB2Dynamixel
OpenCR1.0	JST (3P, 4P)	Robot Cable -X3P (by length)
U2D2

■ Specifications

Item	Specifications
MCU	ST CORTEX-M3 (STM32F103C8 @ 72 [Mhz], 32Bit)
Position Sensor	Contactless absolute encoder (12Bit, 360 [°]) Maker : ams(www.ams.com), Part No : AS5045
Motor	Coreless
Baud Rate	9,600 [bps] ~ 4.5 [Mbps]
Control Algorithm	PID control
Resolution	4096 [pulse/rev]
Backlash	15 [arcmin] (0.25 [°])
Operating Modes	Current Control Mode Velcoity Control Mode Position Control Mode (0 ~ 360 [°]) Extended Position Control Mode (Multi-turn) Current-based Position Control Mode PWM Control Mode (Voltage Control Mode)
Weight	165 [g]
Dimensions (W x H x D)	33.5 x 58.5 x 44 [mm]
Gear Ratio	152.3 : 1
Stall Torque	6.9 [N.m] @ 11.1 [V], 4.2 [A] 7.3 [Nm] @ 12.0 [V], 4.4 [A] 8.9 [Nm] @ 14.8 [V], 5.5 [A]
No Load Speed	50 [rev/min] @ 11.1 [V] 53 [rev/min] @ 12.0 [V] 66 [rev/min] @ 14.8
Radial Load	40 [N] (10 [mm] away from the horn)
Axial Load	20 [N]
Operating Temperature	-5 ~ +80 [°C]
Input Voltage	10.0 ~ 14.8 [V] (Recommended : 12.0 [V])
Command Signal	Digital Packet
Protocol Type	TTL Half Duplex Asynchronous Serial Communication with 8bit, 1stop, No Parity
Physical Connection	TTL Multidrop Bus
ID	253 ID (0 ~ 252)
Feedback	Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Part Material	Full Metal Gear Metal (Front, Middle), Engineering Plastic (Back)
Standby Current	40 [mA]