Product Description
* OpenRB-150 Starter Kit is a product consisting of OpenRB-150 and XL330-M288-T.
* Batteries USB Cables and Power Cables are not included.
OpenRB-150
Has the same pinout and form factor as the Arduino MKR and supports programming using the Arduino IDE.
XL330-M288-T
Compact and lightweight DYNAMIXEL.
Supports RC protocol & 6 control modes including Current Control and Current Based Position Control.
| Product Name | Quantity | Product Description |
|---|---|---|
| OpenRB-150 | 1 | DYNAMIXEL Controller |
| XL330-M288-T | 1 | DYNAMIXEL |
| Robot Cable-X3P 180mm | 1 | TTL 3P cable (JST-JST) |
| PHS M2x6 TAP | 6 | Bolts for Horn |
| PHS M2x8 TAP | 10 | Bolts for Frame Assembly |
OpenRB-150
| MCU | SAMD21 Cortex-M0+ 32bit low power ARM® |
|---|---|
| Operation Voltage | 5.0V (USB 3.0) 3.7V ~ 12.6V (VIN or Terminal) |
| Operation Temperature | -40℃ ~ 85℃ |
| Allowable Current | 3.0A (DYNAMIXEL Port) |
| Connector Type | USB C-Type Terminal Block |
| Dynamixel Port(TTL) | JST B3B-EH-A(2) JST S3B-EH-A(2) [Max 1Mbps] |
| Dimentions | 66 x 25 mm |
| Weight | 13g |
XL330-M288-T
| MCU | 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] | 0.52 | |
| Stall Current [A] | 1.5 | |
| No Load Speed [rpm] | 104.0 | |
| No Load Current [A] | 0.15 | |
| 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 (12Bit 360 [deg]) Maker : ams(www.ams.com) Part No : AS5601 | |
| Operating Temperature | Min. [°C] | -5 |
| Max. [°C] | 60 | |
| Motor | Cored | |
| Baud Rate | Min. [bps] | 9600 |
| Max. [bps] | 40000 | |
| Control Algorithm | PID | |
| Gear Type | Spur | |
| Gear Material | Engineering Plastic | |
| Case Material | Engineering Plastic | |
| Dimensions (WⅹHⅹD) [mm] | 20 X 34 X 26 | |
| Dimensions (WⅹHⅹD) [inch] | 0.78 X 1.33 X 1.02 | |
| Weight [g] | 18.00 | |
| Weight [oz] | 0.63 | |
| Gear Ratio | 288.4 : 1 | |
| Command Signal | Digital Packet | |
| Protocol Type | Half duplex Asynchronous Serial Communication (8bit 1stop No Parity) | |
| Link (Physical) | TTL Level Multi Drop Bus | |
| ID | 0 ~ 252 | |
| Feedback | Position Velocity Current Realtime tick Trajectory Temperature Input Voltage etc | |
| Protocol Type | 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 | |
Power can be supplied to the OpenRB-150 in three ways depending on the voltage and serial communication type of DYNAMIXEL.
1. 5V TTL DYNAMIXEL
2. 12V TTL DYNAMIXEL
3. 12V RS-485 DYNAMIXEL
The OpenRB-150 is compatible with all DYNAMIXEL models.
However additional equipment is required for use with the following types of DYNAMIXEL.
1. RS-485
The DYNAMIXEL Communication Bridge is required to convert signals.
2. 24V
A separate power supply is required.
3. DYNAMIXEL-AX and MX Series (Molex connectors)
A Molex-JST convertible cable is required.
1. The Arduino MKR board is not included in the package.
2. When supplying power please check the jumper settings. (USB C Type VIN Terminal VIN)
3. Please do not charge the battery when it is connected to the controller.
4. Please check the power input terminal before connecting it to the controller.
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