Product Description
Features
- DYNAMIXEL is a robot-exclusive smart actuator with a fully integrated DC Motor + Controller + Driver + Sensor + Reduction Gear + Network in one DC servo module.
- XL-320 has high performance and precise control features compared to its compact size.
- Uses TTL communication with daisy chain features 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 LEDs can be programmed by users for fancier displays when using the motor.
Caution
- Supports TTL Communication, and DOES NOT support 3P cable used in AX-series.
- Has a 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.
Package Components
- XL-320: 1 pcs
- 3P Cable 130mm(XL320 exclusive): 1 pcs
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)
Links
Specification
| 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/rev] | 1 | |
| Angle [degree] | 300 | |
| Position Sensor | Potentiometer | |
| Operating Temperature | Min. [°C] | -5 |
| Max. [°C] | 65 | |
| 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] | 17.00 | |
| 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 Type | Protocol 2.0 | |
| Operating Mode / Angle | Wheel Mode: Endless turn Joint Mode：300 [deg] |
|
| Output [W] | - | |
| Standby Current [mA] | 15 | |