Robotis - OpenRB-150 Starter Kit

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Features * OpenRB-150 Starter Kit is a product consisting of OpenRB-150 and XL330-M288-T. * Batteries, USB Cables, and Power Cables are not included. OpenRB-150 Has the same pinout and form factor as the Arduino MKR, and supports programming using the Arduino IDE. XL330-M288-T Compact and lightweight DYNAMIXEL. Supports RC protocol & 6 control modes including Current Control and Current Based Position Control Package Components Product Name Quantity Product Description OpenRB-150 1 DYNAMIXEL Controller XL330-M288-T 1 DYNAMIXEL Robot Cable-X3P 180mm 1 TTL 3P cable (JST-JST) PHS M2x6 TAP 6 Bolts for Horn PHS M2x8 TAP 10 Bolts for Frame Assembly H/W Specifications OpenRB-150 MCU SAMD21 Cortex-M0+ 32bit low power ARM® Operation Voltage 5.0V (USB 3.0) 3.7V ~ 12.6V (VIN or Terminal) Operation Temperature -40℃ ~ 85℃ Allowable Current 3.0A (DYNAMIXEL Port) Connector Type USB C-Type, Terminal Block Dynamixel Port(TTL) JST B3B-EH-A(2), JST S3B-EH-A(2) [Max 1Mbps] Dimentions 66 x 25 mm Weight 13g XL330-M288-T MCU Cortex-M0+ (64 [MHz], 32bit) Input Voltage Min. [V] 3.7 Recommended [V] 5.0 Max. [V] 6.0 Performance Characteristics Voltage [V] 5.0 Stall Torque [N·m] 0.52 Stall Current [A] 1.5 No Load Speed [rpm] 104.0 No Load Current [A] 0.15 Continuous Operation Voltage [V] - Torque [N·m] - Speed [rpm] - Current [A] - Resolution Resolution [deg/pulse] 0.0879 Step [pulse/rev] 4 Angle [degree] 360 Position Sensor Contactless absolute encoder (12Bit, 360 [deg])Maker : ams(www.ams.com), Part No : AS5601 Operating Temperature Min. [°C] -5 Max. [°C] 60 Motor Cored Baud Rate Min. [bps] 9,600 Max. [bps] 4,000,000 Control Algorithm PID Gear Type Spur Gear Material Engineering Plastic Case Material Engineering Plastic Dimensions (WⅹHⅹD) [mm] 20 X 34 X 26 Dimensions (WⅹHⅹD) [inch] 0.78 X 1.33 X 1.02 Weight [g] 18.00 Weight [oz] 0.63 Gear Ratio 288.4 : 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, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc Protocol Type Protocol 2.0Experimental S.BUSExperimental iBUSRC-PWM Operating Mode / Angle Current Control mode：Endless turnVelocity Control mode：Endless turnPosition Control Mode：360 [degExtended Position Control Mode：±256 [rev]Current-based Position Control Mode：±256 [rev]PWM Control Mode：Endless turn Output [W] - Standby Current [mA] 15 How to Supply Power (3 Methods) Power can be supplied to the OpenRB-150 in three ways depending on the voltage and serial communication type of DYNAMIXEL. 1. 5V TTL DYNAMIXEL 2. 12V TTL DYNAMIXEL 3. 12V RS-485 DYNAMIXEL Compatible DYNAMIXEL The OpenRB-150 is compatible with all DYNAMIXEL models. However, additional equipment is required for use with the following types of DYNAMIXEL. 1. RS-485 The DYNAMIXEL Communication Bridge is required to convert signals. 2. 24V A separate power supply is required. 3. DYNAMIXEL-AX and MX Series (Molex connectors) A Molex-JST convertible cable is required. Caution 1. The Arduino MKR board is not included in the package. 2. When supplying power, please check the jumper settings. (USB C Type, VIN, Terminal VIN) 3. Please do not charge the battery when it is connected to the controller. 4. Please check the power input terminal before connecting it to the controller. Link ○ e-Manual ○ Drawing ○ Board Manager(GitHub) ○ DYNAMIXEL2Arduino Library ○ [Video] DYNAMIXEL Quick Start Guide with Arduino ○ [Video] DYNAMIXEL Quick Start Guide with DYNAMIXEL Wizard 2.0 Robotis - OpenRB-150 Starter Kit Features * OpenRB-150 Starter Kit is a product consisting of OpenRB-150 and XL330-M288-T. * Batteries, USB Cables, and Power Cables are not included. OpenRB-150 Has the same pinout and form factor as the Arduin