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XL-320
Description
Features
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.
Package Components
|
XL-320 |
1 |
|---|---|
| 3P Cable 130mm(XL320 exclusive) | 1 |
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)
Caution
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.
Specification
| Model Name | XL-320 | |
|---|---|---|
| MCU | 0 | |
| 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 | |
Links