DYNAMIXEL XH540-W270-R Smart Actuator
Author
Tony Wang
Date Published
DYNAMIXEL XH540 actuator is recommended to be a driver of BD-X neck.
Specifications
12.0V / 9.90Nm / 39.00rpm / Coreless(Maxon) / RS-485
MCU: ARM Cortex-M3 (72 MHz, 32Bit)
Position Sensor: Contactless absolute encoder (12Bit, 360 [°]) ams(www.ams.com), Part No : AS5045
Motor: Coreless(Maxon)
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 / Velocity 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: 165g
Dimensions (W x H x D): 33.5 x 58.5 x 44 [mm]
Gear Ratio: 272.5 : 1
Stall Torque: 9.2 [N.m] (at 11.1 [V], 4.5 [A]) / 9.9 [N.m] (at 12.0 [V], 4.9 [A]) / 11.7 [N.m] (at 14.8 [V], 5.9 [A])
No Load Speed: 36 [rev/min] (at 11.1 [V]) / 39 [rev/min] (at 12.0 [V]) / 46 [rev/min] (at 14.8 [V])
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])
Physical Connection: RS485 / TTL Multidrop Bus
TTL Half Duplex Asynchronous Serial Communication with 8bit, 1stop, No Parity
RS485 Asynchronous Serial Communication with 8bit, 1stop, No Parity
ID: 0 ~ 252
Feedback: Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Standby Current: 40 [mA]
