Product Description
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 (W?H?D) [mm] & Weight : 18g
5.Support RC Protocol without additional converting device
6.Energy Saving with Reduced Current
| Item Name | Quantity | Description |
|---|---|---|
| XL330-M077-T | 1 | DYNAMIXEL |
| Robot Cable-X3P 180mm | 1 | TTL 3P Cable (JST - JST) |
| PHS M2x6 TAP | 6 | Bolts for horns |
| PHS M2x8 TAP | 10 | Bolts for frames |
* Please purchase the frames for the X330 models separately.
* The idler and the idler cap are included in the FPX330-H101 4PCS Set. (Not sold as a standalone.)
| Model Name | XL330-M077-T | |
|---|---|---|
| Series | DYNAMIXEL X | |
| MCU | ARM Cortex-M0+ (64 [MHz], 32bit) | |
| Input Voltage | Min. [V] | 3.7 | Recommended [V] | 5.0 | Max. [V] | 6.0 |
| Performance 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] | 0.15 |
| Continuous Operation | Voltage [V] | - | Torque [N·m] | - | Speed [rpm] | - | Current [A] | - |
| Resolution | Resolution [deg/pulse] | 0.0879000000 | Step [pulse/rev] | 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] | 70 |
| Motor | Cored | |
| Baud Rate | Min. [bps] | 9,600 | Max. [bps] | 4,000,000 |
| Control Algorithm | PID | |
| Gear Type | Spur | |
| Gear Material | Engineering Plastic | |
| Case Material | Engineering Plastic | |
| Dimensions (W?H?D) [mm] | 20 x 34 x 26 | |
| Dimensions (W?H?D) [inch] | 0.78 x 1.33 x 1.02 | |
| Weight [g] | 18.00 | |
| Weight [oz] | 0.63 | |
| Gear Ratio | 77.5 : 1 | |
| Backlash [arcmin] | - | |
| Backlash [deg] | - | |
| Command Signal | Digital Packet | |
| Protocol Type | Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity) | |
| Link (Physical) | TTL Level Multidrop Bus | |
| ID | 0 ~ 252 | |
| Feedback | Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc | |
| Protocol version | Protocol 2.0 Experimental S.BUS Experimental iBUS RC-PWM | |
| 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 | |
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Why I like dynamixel
Very high quality servos with plenty of built-in controlling options .
I've heard about dynamixel from Stanford robotics class and after trying them I realized that I don't need anything else. They just work reliably, and with no programming effort. All you have to do is send operation that you want to perform over uart and that's it. You have benefits of:
1. controlling mechanisms are abstracted
2. you get feedback about its operation + some internal telemetry
3. you can put constraints on current or torque for mechanical protection/safety
4. you can substitute one servo with other with almost no code change
5. it has high accuracy absolute encoder so you don't have to think about position.
![DYNAMIXEL Starter Set [US]](https://cdn11.bigcommerce.com/s-76o5u/images/stencil/500x659/products/596/1409/DXL_Starter_Set__66003.1601571149.png?c=2 "DYNAMIXEL Starter Set [US]")
