XL-320
| 注意事項 | XL-320にフレーム類を固定するためには専用の樹脂製リベットが必要です。 XL-320より新しい同クラスのX330シリーズでは、ねじでフレーム類が固定できます。 ※XL-320本体のコネクターと接続ケーブルは他のDynamixelと互換性がありません。 |
|---|---|
| 対応製品 | コントローラ：OpenCM9.04-C ※XL-320本体のコネクターと接続ケーブルは他のDynamixelと互換性がありません。 |
DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.
XL-320 has high performance and precise control feature compared to its compact size.
Uses TTL communication with daisy chain feature 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 LED can be programmed by users for fancier display when using the motor.
XL-320 | 1 |
|---|---|
| 3P Cable 130mm(XL320 exclusive) | 1 |
Controller : OpenCM9.04A, B, C
Frame : 6mm plates
*NOT compatible with CM-100 / 100A / CM-200.
ID : 1
Baud Rate : 1Mbps
(User can change various settings including ID and baud rate according to environment)
Supports TTL Communication, and DOES NOT support 3P cable used in AX-series.
Has 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.
| 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] | 1,024 | Angle [degree] | 300 |
| Position Sensor | Potentiometer | |
| Operating Temperature | Min. [°C] | -5 | Max. [°C] | 70 |
| 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] | 16.70 | |
| 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 version | Protocol 2.0 | |
| Operating Mode / Angle | Wheel Mode：Endless turn Joint Mode：300 [deg] | |
| Output [W] | - | |
| Standby Current [mA] | 15 | |
