PM54-060-S250-R
Feature
DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.
DYNAMIXEL-P Series implements removable reduction cycloid gears, resulting in high precision and impact resistance.
- Torque control based on current sensing
- Position, Torque and Speed-based command
- High resolution with combination of Incremental Encoder and Contactless Absolute Encoder
- Full metal housing for high durability
- Can be used to make a full-size manipulator, pan tilt, humanoid, etc.
[DYNAMIXEL PRO -> P] Upgrade Details
- Improved design and JST connectors applied
- Improved dirt inflow and leakage
- Improved control table (Supports X Series functions)
- Enhanced control performance such as responsiveness and resolution
- Enhanced communication responsiveness
- Improved heat, noise, and durability
Package Component
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PM54-060-S250-R
|
1
|
|
Robot Cable-X4P 300mm(Convertible)
|
1
|
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Robot Cable-X4P 300mm
|
1
|
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Power Cable-2P 600mm
|
1
|
|
Wrench Bolt WB M3x8
|
20
|
Compatible Products
Controller : OpenCM 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)
Performance Comparison
Caution
The operational voltage is different from other DYNAMIXEL series (Operational voltage: 24V).
Depending on the number of units used, it is recommended to use a separate power supply.
Molex 4Pin connector is used for communication.
Specification
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Model Name
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PM54-060-S250-R
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MCU
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Cortex-M4 (168 [Mhz], 32 [bit])
|
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Input Voltage
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Min. [V]
|
-
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Recommended [V]
|
24.0
|
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Max. [V]
|
-
|
|
Performance Characteristics
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Voltage [V]
|
24.0
|
|
Stall Torque [N·m]
|
-
|
|
Stall Current [A]
|
-
|
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No Load Speed [rpm]
|
33.1
|
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No Load Current [A]
|
1.25
|
|
Continuous Operation
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Voltage [V]
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24.0
|
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Torque [N·m]
|
10.1
|
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Speed [rpm]
|
28.3
|
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Current [A]
|
3.0
|
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Resolution
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Resolution [deg/pulse]
|
0.0007
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Step [pulse]
|
502,834
|
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Angle [degree]
|
360
|
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Position Sensor
|
Contactless absolute encoder
Incremental encoder
|
|
Operating Temperature
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Min. [°C]
|
-5
|
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Max. [°C]
|
55
|
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Motor
|
BLDC (Maxon)
|
|
Baud Rate
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Min. [bps]
|
9,600
|
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Max. [bps]
|
10,500,000
|
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Control Algorithm
|
PID
|
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Gear Type
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Cycloid
|
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Gear Material
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Metal
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Case Material
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Metal
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Dimensions (WⅹHⅹD) [mm]
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54.0 X 126.0 X 54.0
|
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Dimensions (WⅹHⅹD) [inch]
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2.13 x 4.96 x 2.13
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Weight [g]
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855.00
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Weight [oz]
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30.16
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Gear Ratio
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251.4 : 1
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Command Signal
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Digital Packet
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Protocol Type
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Half duplex Asynchronous
Serial Communication (8bit, 1stop, No Parity)
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Link (Physical)
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RS485 Multi Drop Bus
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ID
|
0 ~ 252
|
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Feedback
|
Position, Velocity, Current, Temperature, Voltage, External Port, etc
|
|
Protocol version
|
Protocol 2.0
|
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Operating Mode / Angle
|
Torque Control Mode
Velocity Control Mode
Position Control Mode
Extended Position Control Mode
PWM Control Mode
|
|
Output [W]
|
60
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Standby Current [mA]
|
40
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Links
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