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Robotis - DYNAMIXEL XW540-T140-R Servo

£1,000.73 £833.94

The NEW waterproof Servos are here!

DYNAMIXEL XW Series - Waterproof Servo - IP68

The DYNAMIXEL X-Series is a line-up of high-performance networked actuators. Improved Torque, Compact Design, Enhanced Durability, and Expandability.

SKU

R-902-0160-000

Details

Basic Features

Waterproof - IP68 (1m, 24H)
Waterproof cable, hollow stucture
Normal Cable, Extension Cable
Improved Torque, Compact Design
Enhanced Durability and Expandability
Hollow Back Case Minimizes Cable Stress (3-Way Wiring)
Frames Directly Screwed onto the Case (No Nuts Needed)
Improved Aluminum Case Heat Sink
Operating Modes
Current-Based Torque Control (4096 steps, 2.69mA/step)
Profile Control for Smooth Motion Planning
Trajectory Data and Moving Status (In-Position, Following Error, etc.)
Energy Efficient (Standby Current Reduced from 100mA to 40mA)

Model:	XW540-T140-R
Weight :	185g
Torque :	6.9 N·m [Stall torque]
Speed :	72 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	145.6 : 1
Stall Torque	6.4 [N.m] (at 11.1 [V], 4.5 [A]) 6.9 [N.m] (at 12.0 [V], 4.9 [A]) 8.3 [N.m] (at 14.8 [V], 5.9 [A])
No Load Speed	67 [rev/min] (at 11.1 [V] 72 [rev/min] (at 12.0 [V] 88 [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-T140-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

Controller : OpenCM9.04 485 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)

Waterproof Cabling

Performance Comparison

Caution

DYNAMIXEL XW series uses 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.
Comply with the operating environment. (Depth 1 m, 24 hr in normal fresh water)
Do not pull the rubber cap of the connector.
The rubber cap is connected to the rubber packing, and any deformation may cause leakage.
The rubber cap is designed for dust protection and is not waterproof. When using underwater, please connect a waterproof cable.
Do not insert blades or other sharp objects during product operation.

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.