XL330-M077-T
360度動作、非接触式磁気エンコーダ、電流(トルク)制御、時間ベース制御、PWM信号対応
The XL330 series is a compact and lightweight DYNAMIXEL which is very useful solution when building a small application or operating DYNAMIXELs in a small space.
Unlike previous entry level models, the voltage range is 3.7V ~ 6V and XL330 comes with various operating modes including Current Based Position Control and Current Control.
1.Various Operating Modes
Velocity Control, Position Control, Extended Position Control, PWM Control, Current Control, Current Based Position Control
2.Profile Control for Smooth Motion Planning
3.Input Voltage : 3.7V ~ 6V ( Recommended 5V)
4.Small sized DYNAMIXEL model - Dimension : 20 X 34 X 25 (WⅹHⅹD) [mm] & Weight : 18g
5.Support RC Protocol without additional converting device
6.Energy Saving with Reduced Current
| XL330-M077-T | 1 |
|---|---|
| Robot Cable-X3P 180mm | 1 |
| Bolt M2x6 TAP | 6 |
| Bolt M2x8 TAP | 10 |
Controller : Arduino MKR Shield
Interface : USB2Dynamixel, U2D2
ID : 1
Baud Rate : 57600bps
(User can change various settings including ID and baud rate according to environment)
| Model Name | XL330-M077-T | |
|---|---|---|
| MCU | Cortex-M0+ (64 [MHz], 32bit) | |
| Input Voltage | Min. [V] | 3.7 | Recommended [V] | 5.0 | Max. [V] | 6.0 |
| Performance Characteristics | Voltage [V] | 5.0 | Stall Torque [N·m] | 0.22 | Stall Current [A] | 1.5 | No Load Speed [rpm] | 363.0 | No Load Current [A] | 0.15 |
| Continuous Operation | Voltage [V] | - | Torque [N·m] | - | Speed [rpm] | - | Current [A] | - |
| Resolution | Resolution [deg/pulse] | 0.0879 | Step [pulse] | 4 | Angle [degree] | 360 |
| Position Sensor | Contactless absolute encoder (12Bit, 360 [deg]) Maker : ams(www.ams.com), Part No : AS5601 | |
| Operating Temperature | Min. [°C] | -5 | Max. [°C] | 60 |
| Motor | Cored | |
| Baud Rate | Min. [bps] | 9,600 | Max. [bps] | 4,500,000 |
| Control Algorithm | PID | |
| Gear Type | Spur | |
| Gear Material | Engineering Plastic | |
| Case Material | Engineering Plastic | |
| Dimensions (WⅹHⅹD) [mm] | 20 X 34 X 26 | |
| Dimensions (WⅹHⅹD) [inch] | 0.78 X 1.33 X 1.02 | |
| Weight [g] | 0.00 | |
| Weight [oz] | 0.63 | |
| Gear Ratio | 77 :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, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc | |
| Protocol version | Protocol 2.0 | |
| 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] | 15 | |
