ROBOTIS Dynamixel XH540-V150-R
Dynamixel-X RS-485 Servo Robot Actuator

ROBOTIS Dynamixel XH540-V150-R RS-485 Servo Robot Actuator

#902-0142-000
Our Price: $549.90

Package Components

XH540-V150-R
HN13-N101
Teflon Washer (for Horn Assembly)
Robot Cable-X4P 180mm
Robot Cable-X4P (Convertible) 180mm
16 x Wrench Bolt WB M2.5x5
10 x Wrench Bolt WB M2.5x4
1 x Wrench Bolt WB M3x8
8 x Spacer Ring

Overview:

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

The Dynamixel XH540-V150-R is a High Performance RS-485 Servo in the Dynamixel X-Series. Using the Same form factor as the other 430 series servos in the X-Series line, the Dynamixel XH540-V150-R has a high Stall Torque rating, making it suitable for robots that need strength more than they need speed.

Dynamixel X-Series is a new line-up of high performance networked actuator module, which has been widely used for building multi-joint robots with reliability and expandability.

Various Operating Modes: Velocity Control, Position Control, Extended Position Control, PWM Control
Profile Control for Smooth Motion Planning
Hollow Back Case Minimizes Cable Stress (3-way-routing)
Direct Screw Assembly to the Case (without Nut Insert)
Energy Saving with Reduced Current

Package Components

XH540-V150-R
HN13-N101
Teflon Washer (for Horn Assembly)
Robot Cable-X4P 180mm
Robot Cable-X4P (Convertible) 180mm
16 x Wrench Bolt WB M2.5x5
10 x Wrench Bolt WB M2.5x4
1 x Wrench Bolt WB M3x8
8 x Spacer Ring

Compatible Products

Controller: OpenCM 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 environment)

Various Cabling Methods

Caution

Dynamixel-X Series cable assembly through hollow case. Organize the entangled cable before assembling the back case.

Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error. If you use two cables through the hollow case, the cables will be damaged. Use only one cable through the hollow case

The Dynamixel-X Series adopted a new gold-plated JST connector for secure and reliable communication. The connector used for previous Dynamixel is Molex.

To control Dynamixel X-Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.

However, the Molex-JST convertible cable is NOT included in the XL430 model. Please purchase a convertible cable when using a controller and interface that supports the JST connector.

Note

XH models feature Maxon DC motor: Quieter- Less Noise, Improved Efficiency- Reduced Current Draw
XH430-V/XH540-V models are designed for 24V Input Voltage for High-Power Systems

Features:

6 Operating Modes: Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control
Profile Control for Smooth Motion Planning
Improved Heat Sink Featuring an Aluminum Case
Hollow Back Case Minimizes Cable Stress (3-way-routing)
Direct Screw Assembly to the Case (without Nut Insert)
Energy Saving (Reduced Current from 100mA to 40mA)
28.4% reduced volume compared to the MX-106
Support synchronous control mode
Support external I / O port support
Compatible with DYNAMIXEL PRO

Sophisticated Control Architecture:

Various feedback and control method according to developers’ needs
Protocol 2.0 provides reliable packet communication

Sophisticated Control Architecture

Specifications:

Specifications
MCU	Cortex-M3 (72 Mhz, 32 bit)
Input Voltage	Min: - Recommended: 24.0V Max: -
Performance Characteristics	Voltage: 24.0V Stall Torque: 6.40N·m Stall Current: 2.4A No Load Speed: 60.0rpm No Load Current: 0.06A
Continuous Operation	Voltage: - Torque: - Speed: - Current: -
Resolution	Resolution [deg/pulse]: 0.0879 Step [pulse]: 4,096 Angle [degree]: 360
Position Sensor	Contactless Absolute Encoder (12Bit, 360 [deg]) Maker : ams(www.ams.com), Part No : AS5045
Operating Temperature	Min: -5 °C Max: 80 °C
Motor	Coreless (Maxon)
Baud Rate	Min: 9,600 bps Max: 4,500,000 bps
Control Algorithm	PID
Gear Type	Spur
Gear Material	Precious Metal
Case Material	Precious Metal (Front, Middle) Engineering Plastic (Back)
Dimensions (WxHxD)	1.32 x 2.30 x 1.73 inch (33.5 x 58.5 x 44.0 mm)
Weight	5.82oz (165.00g)
Gear Ratio	152.3 : 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, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Protocol version	Protocol 1.0 Protocol 2.0(Default)
Operating Mode / Angle	Current Control Mode: Endless turn Velocity Control Mode: Endless turn Position Control Mode: 360° Extended Control Mode: ±256[rev] Current-based Position Control Mode: ±256[rev] PWM Control Mode: Endless turn
Output	-
Standby Current	36 mA

Controller Model	Controller Connector	Cable	Dynamixel-X Connector	Dynamixel Communication
OpenCM+485 Expansion Board	Molex (3P, 4P)	Robot Cable-X3P 180mm (Convertible)	JST-3P	TTL
USB2Dynamixel	Molex (3P, 4P)	Robot Cable-X3P 180mm (Convertible)	JST-3P	TTL
OpenCR1.0	JST (3P, 4P)	Robot Cable-X3P (by length)	JST-3P	TTL
U2D2	JST (3P, 4P)	Robot Cable-X3P (by length)	JST-3P	TTL
OpenCM+485 Expansion Board	Molex (3P, 4P)	Robot Cable-X3P 180mm (Convertible)	JST-4P	RS-485
USB2Dynamixel	Molex (3P, 4P)	Robot Cable-X3P 180mm (Convertible)	JST-4P	RS-485
OpenCR1.0	JST (3P, 4P)	Robot Cable-X3P (by length)	JST-4P	RS-485
U2D2	JST (3P, 4P)	Robot Cable-X3P (by length)	JST-4P	RS-485

Performance Comparison:

Dynamixel-X Series Performance Comparison

Dynamixel SDK:

Dynamixel SDK

Provides various control environment just like Dynamixel

Dynamixel SDK is a software development kit that provides Dynamixel control functions using packet communication. The API of Dynamixel SDK is designed for Dynamixel actuators and Dynamixel-based platforms. You need to be familiar with C/C++ programming language for right use of the software. This e-Manual provides comprehensive information on ROBOTIS products and applications.

Supported Protocols

To control Dynamixel, communication should be established according to the protocol of Dynamixel. There are versions 1.0 and 2.0 of the Dynamixel protocol. The Dynamixel SDK supports both, and the user can use both protocols simultaneously using the Dynamixel SDK. Refer to the following manuals for details on the protocols.

Dynamixel Protocol 1.0
Dynamixel Protocol 2.0 (Recommended protocoltype)

Supported Devices

The Dynamixel SDK can be used on PCs such as desktops or laptops, as well as on tablets, and also on SBCs like Raspberry Pi and UpBoards. In addition, it can be used with embedded boards that support the Arduino IDE. Dynamixel uses TTL and RS485 communication. In order to use computer and Dynamixel, we recommend USB2Dynamixel or U2D2 as interface device.

Supported Operating Systems

The Dynamixel SDK supports all three operating systems: Windows, Linux, and MacOS.

Supported Languages

The Dynamixel SDK supports various programming languages: C, C++, C#, Python, Java, MATLAB and LabVIEW.
In addition, Dynamixel SDK supports ROS, so it can be used as ROS library using C++ or Python modules.

C: *Dynamic library and source code of this library and examples
C#, Java, MATLAB, LabVIEW: Support based on dynamic library using C language
C++: *Dynamic library and source code of this library and examples
Python: Python module and examples
ROS: ROS library using C++ and Python modules

(* Dynamic library (*.dll, *.so, and *.dylib files) / .dll: dynamic-link library on Windows / .so: shared object on Linux / .dylib: dynamic library on macOS)