DYNAMIXEL P Series

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Product Name:PM54-040-S250-R
Product Code:902-0089-001
Availability:Yes
  
Product description:

PM54-040-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

PM54-040-S250-R

1

Robot Cable-X4P 300mm(Convertible)

1

Robot Cable-X4P 300mm

1

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

Model Name

PM54-040-S250-R

MCU

Cortex-M4 (168 [Mhz], 32 [bit])

Input Voltage

Min. [V]

-

Recommended [V]

24.0

Max. [V]

-

Performance Characteristics

Voltage [V]

24.0

Stall Torque [N·m]

-

Stall Current [A]

-

No Load Speed [rpm]

28.4

No Load Current [A]

1.32

Continuous Operation

Voltage [V]

24.0

Torque [N·m]

3.9

Speed [rpm]

24.2

Current [A]

1.9

Resolution

Resolution [deg/pulse]

0.0007

Step [pulse]

502,834

Angle [degree]

360

Position Sensor

Contactless absolute encoder
Incremental encoder

Operating Temperature

Min. [°C]

-5

Max. [°C]

55

Motor

BLDC (Maxon)

Baud Rate

Min. [bps]

9,600

Max. [bps]

10,500,000

Control Algorithm

PID

Gear Type

Cycloid

Gear Material

Metal

Case Material

Metal

Dimensions (WHD) [mm]

54.0 X 108.0 X 54.0

Dimensions (WHD) [inch]

2.13 x 4.25 x 2.13

Weight [g]

710.00

Weight [oz]

25.04

Gear Ratio

251.4 : 1

Command Signal

Digital Packet

Protocol Type

Half duplex Asynchronous
Serial Communication (8bit, 1stop, No Parity)

Link (Physical)

RS485 Multi Drop Bus

ID

0 ~ 252

Feedback

Position, Velocity, Current, Temperature, Voltage, External Port, etc

Protocol version

Protocol 2.0

Operating Mode / Angle

Torque Control Mode
Velocity Control Mode
Position Control Mode
Extended Position Control Mode
PWM Control Mode

Output [W]

40

Standby Current [mA]

40

Links





902-0089-001-PM54-040-S250-R
 
 
 
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