Features:

• DYNAMIXEL XW series are ROBOTIS’ first line of IP Level models, featuring a certified IP68 (1m, 24hr) rating and are designed for use in wet environments, underwater, and any outdoor applications where a sealed servo is necessary.
• XW series come with separate waterproof cable and extension cable.
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 Sink Featuring an Aluminum Case
4. Easy and Simple Assembly Structure
5. Energy Saving (Reduced Current from 100mA to 40mA)
6. 28.4% reduced volume compared to the MX-106

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] 6.90
• Stall Current [A] 4.9
• No Load Speed [rpm] 72.0
• 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, Back)
• Dimensions (Wâ…¹Hâ…¹D) [mm] 33.5 x 58.5 x 45.9
• Dimensions (Wâ…¹Hâ…¹D) [inch] 1.32 X 2.30 X 1.73
• Weight [g] 165.00
• Weight [oz] 5.82
• Gear Ratio 145.6:1

Package Components

XW540-T140-R 1 DYNAMIXEL
HN13-N105 1 Standard horn for XW540 models
Robot Cable-WP 1000mm 1 Waterproof cable
Robot Cable-WP 1000mm(Extension) 1 Waterproof cable(extension)
Wrench Bolt WB M2.5×5 16 For frame assembly(Side hole)
Wrench Bolt WB M2.5×4 10 For frame assembly
Wrench Bolt WB M3x10 1 For horn assembly