Robotis - Dynamixel XL330-M077-T

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Features The XL330 series is a compact and lightweight DYNAMIXEL which is very useful solution when building a small application or operating DYNAMIXELs in a small space. The XL330 series is a compact and lightweight DYNAMIXEL which is very useful solution when building a small application or operating DYNAMIXELs in a small space. Unlike previous entry level models, the voltage range is 3.7V ~ 6V and XL330 comes with various operating modes including Current Based Position Control and Current Control. 1.Various Operating Modes Velocity Control, Position Control, Extended Position Control, PWM Control, Current Control, Current Based Position Control 2.Profile Control for Smooth Motion Planning 3.Input Voltage : 3.7V ~ 6V ( Recommended 5V) 4.Small sized DYNAMIXEL model - Dimension : 20 X 34 X 25 (WⅹHⅹD) [mm] & Weight : 18g 5.Support RC Protocol without additional converting device 6.Energy Saving with Reduced Current Package Components XL330-M077-T 1 Robot Cable-X3P 180mm 1 Bolt M2x6 TAP 6 Bolt M2x8 TAP 10 Compatible Products Controller : Arduino MKR Shield Interface : USB2Dynamixel, U2D2 Factory Default Settings ID : 1 Baud Rate : 57600bps (User can change various settings including ID and baud rate according to environment) Performance Comparison Caution Specification Model Name XL330-M077-T MCU Cortex-M0+ (64 [MHz], 32bit) Input Voltage Min. [V] 3.7 Recommended [V] 5.0 Max. [V] 6.0Performance Characteristics Voltage [V] 5.0 Stall Torque [N·m] 0.22 Stall Current [A] 1.5 No Load Speed [rpm] 363.0 No Load Current [A] 0.15Continuous Operation Voltage [V] - Torque [N·m] - Speed [rpm] - Current [A] -Resolution Resolution [deg/pulse] 0.0879 Step [pulse] 4,096 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] 4,500,000 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 77 :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, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc Protocol version Protocol 2.0 Operating Mode / Angle Current Control mode：Endless turn Velocity Control mode：Endless turn Position Control Mode：360 [deg] Extended Position Control Mode：±256 [rev] Current-based Position Control Mode：±256 [rev] PWM Control Mode：Endless turn Output [W] - Standby Current [mA] 15 Link e-Manual Drawing Software Compatibility Guide Selection Guide DYNAMIXEL SDK