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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.

Basic Feature

  • â–ª Improved Torque, Compact Size
  • â–ª Enhanced Durability and Expandability
  • â–ª Hollow Back Case Minimizes Cable Stress (3-way-routing)
  • â–ª Direct Screw Assembly to the Case (without Nut Insert)
  • â–ª Improved Heat Sink Featuring an Aluminum Case

Various Control Functions

  • â–ª 6 Operating Modes
  • â–ª Current-Based Torque Control (4096 steps, 2.69mA/step)
  • â–ª Profile Control for Smooth Motion Planning
  • â–ª Trajectory Data and Moving Status (In-Position, Following Error, etc.)
  • â–ª Energy Saving (Reduced Current from 100mA to 40mA)

Sophisticated Control Architecture

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

New H/W Architecture

â–ª Improved Torque, Compact Size

â–ª Compact Design

â–ª Direct Screw Assembly to the Case (without Nut Insert)

â–ª Aluminum Case: Improved Heat Sink Featuring & Enhanced Durability

â–ª Hollow Back Case Minimizes Cable Stress

â–ª Cable cover can Prevention Cable Seperation

 

Development Environment

  • â–ª GUI version
    - RoboPlus Task 2.0
    - RoboPlus Motion 2.0
    - RoboPlus Manager 2.0
  • â–ª SDK 3.0
    - C(Win / Linux)
    - C++(Win / Linux)
    - Python
    - LabView
    - Matlab
    - JAVA
    - C#
 
         
Compatible Device
 
â–ª PC + USB2Dynamixel
 
â–ª Embedded Board
- OpenCM Series
- 3rd Party Board
 
   
 



902-0087-000
XL-320


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 (Wâ…¹Hâ…¹D) [mm] 24 X 36 X 27
Dimensions (Wâ…¹Hâ…¹D) [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
 


 

  

 


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