Features:

• DYNAMIXEL-XD series is a high-performance lineup specially designed for industrial applications.
• The XD series shares an identical form factor with the XH/XM series and has long lifetime with a robust metal gear.
• The aluminum housing and the hollow cable assembly technique are adopted to maximize user convenience.
1. 6 Operating Modes (Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control)
2. Profile Control for Smooth Motion Planning
3. Improved Heat Dissipation with Aluminum Housing
4. Hollow Back Housing Minimizes Cable Stress (3-way-routing)
5. Easy and Simple Assembly Structure
6. Energy Efficient (Reduced Standby Current from 100mA to 40mA)

Specifications:

• MCU Cortex-M3 (72 [Mhz], 32 [bit])
• Input Voltage Min. [V] 10.0
• Recommended [V] 12.0
• Max. [V] 14.8
• Performance Characteristics Voltage [V] 12.0
• Stall Torque [N·m] 7.10
• Stall Current [A] 4.9
• No Load Speed [rpm] 70.0
• No Load Current [A] 0.07
• 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 (12 [bit], 360 [deg])
• Maker : ams(www.ams.com), Part No : AS5045
• Operating Temperature Min. [°C] -5
• Max. [°C] 80
• Motor Coreless (Maxon)
• Baud Rate Min. [bps] 9,600
• Max. [bps] 4,500,000
• Control Algorithm PID
• Gear Type Spur
• Gear Material Metal
• Case Material Metal(Front, Middle)
• Engineering Plastic(Back)
• Dimensions (WⅹHⅹD) [mm] 33.5 X 58.5 X 44
• Dimensions (WⅹHⅹD) [inch] 1.32 X 2.30 X 1.73
• Weight [g] 170.00
• Weight [oz] 5.99
• Gear Ratio 152.3 : 1

Package Components:

XD540-T150-R 1 DYNAMIXEL
HN13-N101 1 Standard horn for X540 models
Thrust Washer (for Horn Assembly) 1 Preventing friction between horn and case
Robot Cable-X4P 180mm 1 RS485 4p Cable (JST-JST)
Robot Cable-X4P (Convertible) 180mm 1 RS485 4p Cable (MOLEX-JST)
Robot Cable-3P-Sync 160mm 1 Cable for Dual Joints
Wrench Bolt WB M2.5x5 16 For frame assembly (Side hole)
Wrench Bolt WB M2.5x4 10 For frame assembly
Wrench Bolt WB M3x8 1 For horn assembly
Spacer Ring 8 For frame assembly