ROBOTIS DYNAMIXEL XL-320
Product Description Features DYNAMIXEL is a robot-exclusive smart actuator with a fully integrated DC Motor + Controller + Driver + Sensor + Reduction Gear + Network in one DC servo module. XL-320 has high performance and precise control features compared to its compact size. Uses TTL communication with daisy chain features to help build small robots easily. High reliability and accuracy for position control with PID control. Built-in clutch for reduction gear protection to improve durability and safety. 3 color LEDs can be programmed by users for fancier displays when using the motor. Caution Supports TTL Communication, and DOES NOT support 3P cable used in AX-series. Has a similar shape and dimension as the Servo Motor (SM-10), but is NOT the same, so please check the drawings before purchase (Different size, voltage, connector). XL-320 uses DYNAMIXEL 2.0 protocol. Please visit the e-Manual page first to check the usage. Package Components XL-320: 1 pcs 3P Cable 130mm(XL320 exclusive): 1 pcs Compatible Products Controller: OpenCM9.04A, B, C Frame: 6mm plates *NOT compatible with CM-100 / 100A / CM-200. Factory Default Settings ID: 1 Baud Rate: 1Mbps (User can change various settings including ID and baud rate according to environment) Links e-Manual: https://emanual.robotis.com/docs/en/dxl/x/xl320/ Drawing Software (DYNAMIXEL Wizard 2.0) Compatibility Guide Selection Guide DYNAMIXEL SDK Specification Model Name XL-320 MCU - Input Voltage Min. [V] 6.0 Recommended [V] 7.4 Max. [V] 8.4 Performance Characteristics Voltage [V] 7.4 Stall Torque [N·m] 0.39 Stall Current [A] 1.1 No Load Speed [rpm] 114.0 No Load Current [A] 0.18 Continuous Operation Voltage [V] - Torque [N·m] - Speed [rpm] - Current [A] - Resolution Resolution [deg/pulse] 0.2930 Step [pulse/rev] 1 Angle [degree] 300 Position Sensor Potentiometer Operating Temperature Min. [°C] -5 Max. [°C] 65 Motor Cored Baud Rate Min. [bps] 7,343 Max. [bps] 1,000,000 Control Algorithm PID Gear Type Spur Gear Material Engineering Plastic Case Material Engineering Plastic Dimensions (WⅹHⅹD) [mm] 24 X 36 X 27 Dimensions (WⅹHⅹD) [inch] 0.94 X 1.42 X 1.06 Weight [g] 17.00 Weight [oz] 0.59 Gear Ratio 238 : 1 Command Signal Digital Packet Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity) Link (Physical) TTL Level Multi Drop Bus ID 0 ~ 252 Feedback Position, Temperature, Load, Input Voltage, etc. Protocol Type Protocol 2.0 Operating Mode / Angle Wheel Mode: Endless turnJoint Mode：300 [deg] Output [W] - Standby Current [mA] 15