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![](https://ae01.alicdn.com/kf/S80388e76e8a54e0fab7311a6055cb325L/ROBOTIS-DYNAMIXEL-XH540-W150-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/S8d109f6fdd4e4a1ab168d9a21500afacv/ROBOTIS-DYNAMIXEL-XH540-W150-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/S2141d2b59f374033a2f2849968831887i/ROBOTIS-DYNAMIXEL-XH540-W150-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/Sc42595d0db8a49a5b65f146999ae264dY/ROBOTIS-DYNAMIXEL-XH540-W150-R-Dynamixel.png) aHR0cDovL2ZyZWVzaGlwLmNvLmty![](https://ae01.alicdn.com/kf/S80388e76e8a54e0fab7311a6055cb325L/ROBOTIS-DYNAMIXEL-XH540-W150-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/S8d109f6fdd4e4a1ab168d9a21500afacv/ROBOTIS-DYNAMIXEL-XH540-W150-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/S2141d2b59f374033a2f2849968831887i/ROBOTIS-DYNAMIXEL-XH540-W150-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/Sc42595d0db8a49a5b65f146999ae264dY/ROBOTIS-DYNAMIXEL-XH540-W150-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/Sed1338b5015448f8adcdac2bf2548b9e1/ROBOTIS-DYNAMIXEL-XH540-W150-R-Dynamixel.jpg)
- Åë½Å ¹æ¹ý: ´Ù¸¥
- ¸ðµ¨ ¹øÈ£: XH540-W150-R
- ºê·£µå À̸§: Nanoradar
- ±Ù¿ø: KR (¿ø»êÁö)
±â´É
DYNAMIXELÀº ¿ÏÀüÈ÷ ÅëÇÕ µÈ ·Îº¿ Àü¿ë ½º¸¶Æ® ¾×Ãß¿¡ÀÌÅÍÀÔ´Ï´Ù.DC ¸ðÅÍ + ÄÁÆ®·Ñ·¯ + µå¶óÀ̹ö + ¼¾¼ + °¨¼Ó ±â¾î + ³×Æ®¿öÅ©ÇϳªÀÇ DC ¼º¸ ¸ðµâ¿¡¼.
DYNAMIXEL-XH / XM ½Ã¸®Áî´Â °í¼º´É Àü·ù °¨Áö ¾Ë°í¸®ÁòÀ» ±â¹ÝÀ¸·Î ´Ù¾çÇÑ Á¦¾î ±â¼úÀ» Á¦°øÇÕ´Ï´Ù.
¾Ë·ç¹Ì´½ ÄÉÀ̽º äÅÃÇÏ¿© »ç¿ëÀÚÀÇ ÆíÀÇ À§ÇØ Áß°ø ÄÉÀÌºí °íÁ¤ ±¸Á¶ µî ½Å±â¼ú äÅÃÇÏ¿´½À´Ï´Ù.
1. 6 ÀÛµ¿ ¸ðµå
(ÅäÅ© Á¦¾î, ¼Óµµ Á¦¾î, À§Ä¡ Á¦¾î, È®Àå À§Ä¡ Á¦¾î, Àü·ù ±â¹Ý À§Ä¡ Á¦¾î, PWM Á¦¾î)
2. ºÎµå·¯¿î µ¿ÀÛ °èȹÀ»À§ÇÑ ÇÁ·ÎÇÊ Á¦¾î
3. ¾Ë·ç¹Ì´½ ÄÉÀ̽º°¡ Ư¡ ÀÎ Çâ»óµÈ È÷Æ® ½ÌÅ©
4. Áß°ø ¹é ÄÉÀ̽º°¡ ÄÉÀ̺í ÀÀ·Â ÃÖ¼ÒÈ (3 ¹æÇâ ¶ó¿ìÆÃ)
5. ½±°í °£´ÜÇÑ Á¶¸³ ±¸Á¶
6. ¿¡³ÊÁö Àý¾à (100mA ¿¡¼ 40mA ·Î Àü·ù °¨¼Ò)
7. MX-106 ºñÇØ º¼·ý 28.4% °¨¼Ò
8. µ¿±â Á¦¾î ¸ðµå Áö¿ø
9. ¿ÜºÎ I / O Æ÷Æ® Áö¿ø Áö¿ø
ÆÐÅ°Áö ±¸¼º ¿ä¼Ò
¾ÆÀÌÅÛ |
¼ö·® |
¼³¸í |
XH540-W150-R |
1 |
´ÙÀ̳ª¹ÌÁ© |
HN13-N101 |
1 |
X540 ¸ðµ¨ ¿ë Ç¥ÁØ È¥ |
½º·¯½ºÆ® ¿Í¼Å (È¥ Á¶¸³¿ë) |
1 |
°æÀû°ú ÄÉÀ̽º »çÀÌÀÇ ¸¶Âû ¹æÁö |
·Îº¿ Cable-X4P 180mm |
1 |
RS485 4p ÄÉÀ̺í (JST-JST) |
·Îº¿ Cable-X4P (ÄÁ¹öÅͺí) 180mm |
1 |
RS485 4p ÄÉÀ̺í (MOLEX-JST) |
·Îº¿ Cable-3P-Sync 160mm |
1 |
ÀÌÁß Á¶ÀÎÆ® ¿ë ÄÉÀ̺í |
·»Ä¡ º¼Æ® WB M2.5x5 |
16 |
ÇÁ·¹ÀÓ Á¶¸³¿ë (Ãø¸é ±¸¸Û) |
·»Ä¡ º¼Æ® WB M2.5x4 |
10 |
ÇÁ·¹ÀÓ Á¶¸³¿ë |
·»Ä¡ º¼Æ® WB M3x8 |
1 |
È¥ Á¶¸³¿ë |
½ºÆäÀ̼ ¸µ |
8 |
ÇÁ·¹ÀÓ Á¶¸³¿ë |
ÁÖÀÇ
Áß°ø ÄÉÀ̽º¸¦ ÅëÇÑ DYNAMIXEL-X ½Ã¸®Áî ÄÉÀÌºí ¾î¼Àºí¸®
Èĸé ÄÉÀ̽º¸¦ Á¶¸³Çϱâ Àü¿¡ ¾ôÈù ÄÉÀ̺íÀ» Á¤¸®ÇϽʽÿÀ.
µÚ¾ûÄÑ ÀÖ´Â ÄÉÀ̺í·Î Èĸé ÄÉÀ̽º¸¦ Á¶¸³ÇÏÁö ¸¶½Ê½Ã¿À. ¾ôÈù ÄÉÀ̺íÀÌ ÄÉÀ̽º¿¡ ÀÇÇØ ºÎ½¤Á® Åë½Å ¿À·ù°¡ ¹ß»ýÇÒ ¼ö ÀÖ½À´Ï´Ù.
Áß°ø ÄÉÀ̽º¿¡ µÎ °³ÀÇ ÄÉÀ̺íÀ» »ç¿ëÇϸé ÄÉÀ̺íÀÌ ¼Õ»óµË´Ï´Ù.
Áß°ø ÄÉÀ̽º¸¦ ÅëÇØ ÇϳªÀÇ ÄÉÀÌºí ¸¸ »ç¿ëÇϽʽÿÀ.
DYNAMIXEL-X ½Ã¸®Áî´Â ¾ÈÀüÇÏ°í ¾ÈÁ¤ÀûÀÎ Åë½ÅÀ» À§ÇØ »õ·Î¿î ±Ýµµ±Ý JST Ä¿³ØÅ͸¦ äÅÃÇß½À´Ï´Ù.
ÀÌÀü DYNAMIXEL¿¡ »ç¿ë µÈ Ä¿³ØÅÍ´Â MolexÀÔ´Ï´Ù.
OpenCM ¶Ç´Â USB2Dynamixel À» ÅëÇØ DYNAMIXEL-X ½Ã¸®Áî ¾×Ãß¿¡ÀÌÅ͸¦ Á¦¾îÇÏ·Á¸é ÆÐÅ°Áö¿¡ µ¿ºÀµÈ JST-Molex ÄÁ¹öÅͺí ÄÉÀ̺íÀ» »ç¿ëÇϽʽÿÀ.
±×·¯³ª Molex-JST ÄÁ¹öÅͺí ÄÉÀ̺íÀº XL430 ¸ðµ¨¿¡ Æ÷ÇԵǾî ÀÖÁö ¾Ê½À´Ï´Ù.
JST Ä¿³ØÅ͸¦ Áö¿øÇÏ´Â ÄÁÆ®·Ñ·¯ ¹× ÀÎÅÍÆäÀ̽º¸¦ »ç¿ëÇÒ °æ¿ì ÄÁ¹öÅͺí ÄÉÀ̺íÀ» ±¸ÀÔÇϽʽÿÀ.
»ç¾ç
¸ðµ¨ À̸§ |
XH540-W150-R |
MCU |
Cortex-M3 (72 [Mhz], 32 [ºñÆ®]) |
ÀÔ·Â Àü¾Ð |
¹Î. [V] |
10.0 |
±ÇÀå [V] |
12.0 |
¸Æ½º. [V] |
14.8 |
¼º´É Ư¼º |
Àü¾Ð [V] |
12.0 |
½ºÅç ÅäÅ© [N · m] |
7.10 |
½ºÅç ÇöÀç [A] |
4.9 |
·Îµå ¼Óµµ ¾øÀ½ [rpm] |
70.0 |
·Îµå Àü·ù ¾øÀ½ [A] |
0.07 |
Áö¼ÓÀûÀÎ ÀÛµ¿ |
Àü¾Ð [V] |
- |
ÅäÅ© [N · m] |
- |
¼Óµµ [rpm] |
- |
ÇöÀç [A] |
- |
ÇØ»óµµ |
ÇØ»óµµ [deg/ÆÞ½º] |
0.0879 |
½ºÅÜ [ÆÞ½º/·¹ºê] |
4 |
°¢µµ [Á¤µµ] |
360 |
À§Ä¡ ¼¾¼ |
ºñÁ¢ÃË½Ä Àý´ë ÀÎÄÚ´õ (12 [ºñÆ®], 360 [deg]) Á¦ÀÛÀÚ: am s(www.ams.com), ÆÄÆ® ¹øÈ£: AS5045 |
ÀÛµ¿ ¿Âµµ |
ºÐ [°C] |
-5 |
ÃÖ´ë. [°C] |
80 |
¸ðÅÍ |
Äھ½º (¸Æ½¼) |
¹èµå À² |
ÃÖ¼Ò [bps] |
9,600 |
ÃÖ´ë [bps] |
4,500,000 |
Á¦¾î ¾Ë°í¸®Áò |
PID |
±â¾î ŸÀÔ |
¹ÚÂ÷ |
±â¾î ¼ÒÀç |
±Ý¼Ó |
ÄÉÀ̽º ¼ÒÀç |
±Ý¼Ó (Àü¸é, Áß°£) ¿£Áö´Ï¾î¸µ Çöó½ºÆ½ (µÞ¸é) |
Ä¡¼ö (¿ÍÇÁ È÷ÇÁ D) [mm] |
33.5X58.5X44 |
Ä¡¼ö (¿ÍÇÁ È÷ÇÁ D) [ÀÎÄ¡] |
1.32X2.30X1.73 |
¹«°Ô [g] |
165.00 |
¹«°Ô [¿Â½º] |
5.82 |
±â¾î ºñÀ² |
152.3 : 1 |
¸í·É ½ÅÈ£ |
µðÁöÅÐ ÆÐŶ |
ÇÁ·ÎÅäÄÝ À¯Çü |
¹ÝÀÌÁß ºñµ¿±â Á÷·Ä Åë½Å (8 ºñÆ®, 1 ½ºÅé, Æи®Æ¼ ¾øÀ½) |
¸µÅ© (¹°¸®Àû) |
RS485 ¸ÖƼ µå·Ó ¹ö½º |
ID |
0 ~ 252 |
Çǵå¹é |
À§Ä¡, ¼Óµµ, Àü·ù, ½Ç½Ã°£ ´«±Ý, ±ËÀû, ¿Âµµ, Àü¾Ð, ¿ÜºÎ Æ÷Æ® µî |
ÇÁ·ÎÅäÄÝ À¯Çü |
ÇÁ·ÎÅäÄÝ 1.0 ÇÁ·ÎÅäÄÝ 2.0 (±âº»°ª) |
ÀÛµ¿ ¸ðµå/°¢µµ |
Àü·ù Á¦¾î ¸ðµå: ³¡¾ø´Â ȸÀü ¼Óµµ Á¦¾î ¸ðµå: ³¡¾ø´Â ȸÀü À§Ä¡ Á¦¾î ¸ðµå: 360 [deg È®Àå À§Ä¡ Á¦¾î ¸ðµå: ± 256 [rev] Àü·ù ±â¹Ý À§Ä¡ Á¦¾î ¸ðµå: ± 256 [rev] PWM Á¦¾î ¸ðµå: ³¡¾ø´Â ȸÀü |
Ãâ·Â [W] |
- |
´ë±â Àü·ù [mA] |
40 |
|
|
|
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