Robotis - Dynamixel MX-64T Servo (TTL)
The Dynamixel MX
Series servos feature a contactless (Magnetic) position encoder and PID control for superior
accuracy and reliability. The MX series offers 12bit (4096) position resolution
and can operate in the 360º range offering 0.008º resolution.
Dynamixel Servos are connected using a Daisy Chain mechanism and are queried
and controlled with an advanced Serial protocol. Over 50
Read/Write parameters are available including Position feedback, Load feedback
and PID tuning.
Specification:
Model |
MX-64T model - TTL
communication. |
Weight |
126g |
Dimension |
40.2mm x 61.1mm x 41mm |
Gear Ratio |
200 : 1 |
Operation Voltage (V) |
10 |
12 |
14.8 |
Stall Torque (N.m) |
5.5 |
6 |
7.3 |
Stall Current (A) |
3.9 |
4.1 |
5.2 |
No Load Speed (RPM) |
58 |
63 |
78 |
Motor |
Maxon Motor |
Minimum Control Angle |
About 0.088º x 4,096 |
Operating Range |
Position Control Mode : 360º
Wheel Mode : Endless turn |
Operating Voltage |
10~14.8V (Recommended voltage : 12V) |
Operating Temperature |
-5ºC ~ 80ºC |
Command Signal |
Digital Packet |
Protocol |
Half duplex Asynchronous Serial
Communication
(8 bit, 1 stop, No Parity) |
Link (physical) |
TTL level Multi Drop Bus
(daisy chain type connector) |
ID |
254 ID (0~253) |
Baud Rate |
8000bps ~ 4.5Mbps |
Feedback Functions |
Position, Temperature, Load, Input
Voltage, etc. |
Material |
Case : Engineering Plastic
Gear : Full Metal |
Position Sensor |
Contactless absolute encoder
(Magnetic Encoder) |
By default MX servos are set to ID1 and 57600bps; after purchase,
please change ID and baud rate according to your needs.
|
Specification
Model |
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] |
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 |
2.0 |
Operating Mode / Angle |
Wheel Mode:Endless turn Joint Mode:300 [deg] |
Output [W] |
- |
Standby Current [mA] |
15 |
Software / Control Environment
- Software for Dynamixel control : ROBOPLUS -
Download
- C/C++, C#, Labview, MATLAB, Visual Basic et. : Library –
Download
Kit contents
Description |
Qty |
Servo |
MX-64T |
1 |
HORN |
HN05-N102 (MX Exclusive) |
1 |
WASHER |
Thrust Washer |
1 |
CABLE |
4P Cable 200mm |
1 |
BOLT/NUT |
Wrench Bolt M2.5*4 |
16pcs |
Wrench Bolt M3*8 |
1 |
Nut M2.5 |
18pcs |
|
Compatible horns and frames