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Basic Features
| Model: | XW540-T260-R |
| Weight : | 185g |
| Torque : | 9.5 N·m [Stall torque] |
| Speed : | 40 rpm [No load speed] |
| Dimensions: | 33.5 X 58.5 X 44 (WⅹHⅹD) [mm] |
| Motor: | Coreless |
| IP68 | (1m, 24hr) |
For more detailed information, please visit the Product Information page.
Performance Graph
The Max Torque and the Stall Torque of Performance Graph are different in measurement methods. Stall torque is a measured value of the momentary torque that it can reach. This is generally how RC servos are measured. The Performance graph is also called as N-T curves, which is measured with the gradually increasing load. The actual motor operation environment is closer to the performance graph, not stall torque method. For this reason, the performance graph is broadly used in the industrial field. Generally, Max Torque of the Performance Graph is less than the Stall Torque.
Specifications
| Item | Specifications |
|---|---|
| MCU | ARM CORTEX-M3 (72 [MHz], 32Bit) |
| Position Sensor | Contactless absolute encoder (12Bit, 360 [°]) Maker : ams(www.ams.com), Part No : AS5045 |
| Motor | Coreless(Maxon) |
| Baud Rate | 9,600 [bps] ~ 4.5 [Mbps] |
| Control Algorithm | PID control |
| Resolution | 4096 [pulse/rev] |
| Backlash | 15 [arcmin] (0.25 [°]) |
| Operating Modes | Current Control Mode Velcoity Control Mode Position Control Mode (0 ~ 360 [°]) Extended Position Control Mode (Multi-turn) Current-based Position Control Mode PWM Control Mode (Voltage Control Mode) |
| Weight | 185 g |
| Dimensions (W x H x D) | 33.5 x 58.5 x 45.9 mm |
| Gear Ratio | 260.6 : 1 |
| Stall Torque | 8.8 [N.m] (at 11.1 [V], 4.5 [A]) 9.5 [N.m] (at 12.0 [V], 4.9 [A]) 11.2 [N.m] (at 14.8 [V], 5.9 [A]) |
| No Load Speed | 37 [rev/min] (at 11.1 [V]) 40 [rev/min] (at 12.0 [V]) 48 [rev/min] (at 14.8 [V]) |
| Radial Load | 40 [N] (10 [mm] away from the horn) |
| Axial Load | 20 [N] |
| Operating Temperature | -5 ~ +80 [°C] |
| Ingress Protection rating | IP 68 |
| Input Voltage | 10.0 ~ 14.8 [V] (Recommended : 12.0 [V]) |
| Command Signal | Digital Packet |
| Protocol Type | RS485 Asynchronous Serial Communication (8bit, 1stop, No Parity) |
| Physical Connection | RS485 Multidrop Bus |
| ID | 253 ID (0 ~ 252) |
| Feedback | Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc |
| Part Material | Full Metal Gear / Full Metal Case |
| Standby Current | 40 [mA] |
Package Components
XW540-T260 -R | 1 |
|---|---|
| HN13-N105 | 1 |
| Robot Cable-WP 1000mm | 1 |
| Robot Cable-WP 1000mm(Extension) | 1 |
| Wrench Bolt WB M2.5x5 | 16 |
| Wrench Bolt WB M2.5x4 | 10 |
| Wrench Bolt WB M3x10 | 1 |
Compatible Products
Factory Default Settings
ID : 1
Baud Rate : 57600bps
(User can change various settings including ID and baud rate according to environment)
Waterproof Cabling
Performance Comparison
Cautions
DYNAMIXEL XW series use a waterproof cable.
One side has a waterproof connector and the other side has a JST connector.
Extension cable has waterproof connectors for both sides.
The OpenCR controller has a JST connector for direct connection, but since the OpenCM9.04 + OpenCM 485 expansion board only has a Molex connector, a conversion cable must be used by utilizing U2D2 PHB.
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