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BT-210 Set


BT-410 Set



**This product has a lead time of 2-5 months.**


DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Controller + Driver + Sensor + Reduction Gear + Network in one DC servo module.

DYNAMIXEL-P Series implements removable reduction cycloid gears, resulting in high precision and impact resistance.

- Torque control based on current sensing

- Position, Torque, and Speed-based command

- High resolution with a combination of Incremental Encoder and Contactless Absolute Encoder

- Full-metal housing for high durability

- Can be used to make a full-size manipulator, pan tilt, humanoid, etc.

[DYNAMIXEL PRO -> P] Upgrade Details

- Improved design and JST connectors applied

- Improved dirt inflow and leakage

- Improved control table (Supports X Series functions) 

- Enhanced control performance such as responsiveness and resolution

- Enhanced communication responsiveness

- Improved heat, noise, and durability

Performance Comparison

The operational voltage is different from other DYNAMIXEL series (Operational voltage: 24V).

Depending on the number of units used, it is recommended to use a separate power supply.

JST 4Pin connector is applied for communication.

The 54-series can NOT use the old hinge frames. 

NOT COMPATIBLE with FRP54-H110/120/210/220)

Model Name PH54-200-S500-R
MCU Cortex-M4 (168 [Mhz], 32 [bit])
Input Voltage Min. [V] -
Recommended [V] 24.0
Max. [V] -
Performance Characteristics Voltage [V] 24.0
Stall Torque [N·m] -
Stall Current [A] -
No Load Speed [rpm] 33.1
No Load Current [A] 1.65
Continuous Operation Voltage [V] 24.0
Torque [N·m] 44.7
Speed [rpm] 29.0
Current [A] 9.3
Resolution Resolution [deg/pulse] 0.0004
Step [pulse/rev] 1,003,846
Angle [degree] 360
Position Sensor Contactless absolute encoder Incremental encoder
Operating Temperature Min. [°C] -5
Max. [°C] 55
Motor BLDC (Maxon)
Baud Rate Min. [bps] 9,600
Max. [bps] 10,500,000
Control Algorithm PID
Gear Type Cycloid
Gear Material Metal
Case Material Metal
Dimensions (WⅹHⅹD) [mm] 54.0 X 126.0 X 54.0
Dimensions (WⅹHⅹD) [inch] 2.13 x 4.96 x 2.13
Weight [g] 855.00
Weight [oz] 30.16
Gear Ratio 501.9: 1
Command Signal Digital Packet
Protocol Type Half-duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical) RS485 Multi-Drop Bus
ID 0 ~ 252
Feedback Position, Velocity, Current, Temperature, Voltage, External Port, etc
Protocol Type Protocol 2.0 Modbus
Operating Mode / Angle Current Control mode: Endless turn
Velocity Control mode: Endless turn
Position Control Mode:360 [deg]
Extended Position Control Mode
PWM Control Mode: Endless turn
Output [W] 200
Standby Current [mA] 40

Package Components PH54-200-S500-R 1 Robot Cable-X4P 300mm(Convertible) 1 Robot Cable-X4P 300mm 1 Power Cable-2P 600mm 1 Wrench Bolt WB M3x8 20 Compatible Products Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0 Interface : USB2Dynamixel, U2D2 Factory Default Settings ID: 1 Baud Rate: 57600bps (User can change various settings including ID and baud rate according to the environment)

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