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![](https://ae01.alicdn.com/kf/S167171808baa450c9ee4bc66fb86dc6bg/ROBOTIS-DYNAMIXEL-XH430-W350-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/S59310f45ad244ecb8f89bd6b814965804/ROBOTIS-DYNAMIXEL-XH430-W350-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/S1d5c791fadce478d991629b9c5abc89cJ/ROBOTIS-DYNAMIXEL-XH430-W350-R-Dynamixel.jpg) ![](https://ae01.alicdn.com/kf/S009023a223d24cbd8f1dd6ca98b4a446D/ROBOTIS-DYNAMIXEL-XH430-W350-R-Dynamixel.png) aHR0cDovL2ZyZWVzaGlwLmNvLmty![](https://ae01.alicdn.com/kf/S167171808baa450c9ee4bc66fb86dc6bg/ROBOTIS-DYNAMIXEL-XH430-W350-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/S59310f45ad244ecb8f89bd6b814965804/ROBOTIS-DYNAMIXEL-XH430-W350-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/S1d5c791fadce478d991629b9c5abc89cJ/ROBOTIS-DYNAMIXEL-XH430-W350-R-Dynamixel.jpg) ![](https://ae01.alicdn.com/kf/S009023a223d24cbd8f1dd6ca98b4a446D/ROBOTIS-DYNAMIXEL-XH430-W350-R-Dynamixel.png) ![](https://ae01.alicdn.com/kf/S59b240aa135d4dfc85e19d0908952478g/ROBOTIS-DYNAMIXEL-XH430-W350-R-Dynamixel.png)
- Åë½Å ¹æ¹ý: ´Ù¸¥
- ¸ðµ¨ ¹øÈ£: XH430-W350-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 XL ½Ã¸®Áî´Â ºñÁ¢ÃË½Ä ¸¶±×³×ƽ ÀÎÄÚ´õ ¹× Áß°ø ¹é ÄÉÀ̽º Á¶¸³ ±¸Á¶·Î 360 µµ Á¦¾î ¸ðµå¸¦ Çã¿ëÇÏ´Â »õ·Î¿î ±â´ÉÀ» äÅÃÇÕ´Ï´Ù. XL ½Ã¸®Áî´Â XM430 ¹× XH430 °ú µ¿ÀÏÇÑ ±â°èÀû ±¸Á¶¸¦ °¡Áö¸ç °¢ ¸ðµ¨°ú ȣȯµË´Ï´Ù.
1. ´Ù¾çÇÑ ÀÛµ¿ ¸ðµå
(¼Óµµ Á¦¾î, À§Ä¡ Á¦¾î, È®Àå À§Ä¡ Á¦¾î, PWM Á¦¾î)
2. ºÎµå·¯¿î µ¿ÀÛ °èȹÀ»À§ÇÑ ÇÁ·ÎÇÊ Á¦¾î
3. Áß°ø ¹é ÄÉÀ̽º°¡ ÄÉÀ̺í ÀÀ·Â ÃÖ¼ÒÈ (3 ¹æÇâ ¶ó¿ìÆÃ)
4. ½±°í °£´ÜÇÑ Á¶¸³ ±¸Á¶
5. °¨¼Ò µÈ Àü·ù·Î ¿¡³ÊÁö Àý¾à
ÆÐÅ°Áö ±¸¼º ¿ä¼Ò
XH430-W350-R |
1 |
HN12-N101 |
1 |
½º·¯½ºÆ® ¿Í¼Å (È¥ Á¶¸³¿ë) |
1 |
·Îº¿ Cable-X4P 180mm |
1 |
·Îº¿ Cable-X4P (ÄÁ¹öÅͺí) 180mm |
1 |
·»Ä¡ º¼Æ® (WB M2.5 * 4) |
16 |
·»Ä¡ º¼Æ® (WB M2.5 * 6) |
1 |
·»Ä¡ º¼Æ® (WB M2 * 3) |
10 |
½ºÆäÀ̼ ¸µ |
8 |
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§ |
XH430-W350-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] |
3.40 |
½ºÅç ÇöÀç [A] |
1.3 |
·Îµå ¼Óµµ ¾øÀ½ [rpm] |
30.0 |
·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] |
28.5X46.5X34.0 |
Ä¡¼ö (¿ÍÇÁ È÷ÇÁ D) [ÀÎÄ¡] |
1.12X1.83X1.34 |
¹«°Ô [g] |
82.00 |
¹«°Ô [¿Â½º] |
2.89 |
±â¾î ºñÀ² |
353.5 : 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 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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