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メインに > Actuator > DYNAMIXEL X > XH Series

XH540-V270-R

商品コード

902-0143-000

販売価格

¥ 54,000

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配送位置

韓国

[902-0143-000] XH540-V270-R<o:p></o:p><div style="text-align: center;"><img src="http://www.robotis-shop-kr.com/data/file/IujwOdFpqAwD8BBtbqJ.png" width="630" height="761" alt="DXL -X.png" style="border: none;"></div> <o:p></o:p> <u1:p></u1:p><o:p></o:p>■ Basic Features<u1:p></u1:p><o:p></o:p> <o:p></o:p>DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.<u1:p></u1:p><o:p></o:p>The DYNAMIXEL XH / XM-Series offers a variety of control techniques based on high-performance current sensing algorithms.<u1:p></u1:p><o:p></o:p> <o:p></o:p>It adopts the aluminum case and adopts the new technology such as the hollow cable fastening structure for users’ convenience.<u1:p></u1:p><o:p></o:p> <o:p></o:p>1. 6 Operating Modes  <u1:p></u1:p><o:p></o:p>Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control<u1:p></u1:p><o:p></o:p>2. Profile Control for Smooth Motion Planning<u1:p></u1:p><o:p></o:p>3. Improved Heat Sink Featuring an Aluminum Case<u1:p></u1:p><o:p></o:p>4. Hollow Back Case Minimizes Cable Stress (3-way-routing)<u1:p></u1:p><o:p></o:p>5. Direct Screw Assembly to the Case (without Nut Insert)<u1:p></u1:p><o:p></o:p>6. Energy Saving (Reduced Current from 100mA to 40mA)<u1:p></u1:p><o:p></o:p>7. 28.4% reduced volume compared to the MX-106<u1:p></u1:p><o:p></o:p>8. Support synchronous control mode<u1:p></u1:p><o:p></o:p>9. Support external I / O port support<u1:p></u1:p><o:p></o:p> <u1:p></u1:p><o:p></o:p>  <u1:p></u1:p><o:p></o:p>■   Package Contents<u1:p></u1:p><o:p></o:p><table class="MsoNormalTable" border="0" cellspacing="0" cellpadding="0" style="border-collapse: collapse;"><tbody><tr><td width="337" colspan="2" valign="top" style="width: 252.9pt; border: 1pt solid windowtext; padding: 0cm 5.4pt;"><a name="_Hlk317671148">Description</a><u1:p></u1:p><o:p></o:p></td><td width="78" valign="top" style="width: 58.5pt; border-top: 1pt solid windowtext; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: none; padding: 0cm 5.4pt; border-image: initial;">Quantity<u1:p></u1:p><o:p></o:p></td></tr><tr><td width="103" style="width: 77.4pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; border-image: initial;">DYNAMIXEL<u1:p></u1:p><o:p></o:p></td><td width="234" valign="top" style="width: 175.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">XH540-V270-R<o:p></o:p></td><td width="78" valign="top" style="width: 58.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">1<u1:p></u1:p><o:p></o:p></td></tr><tr><td width="103" style="width: 77.4pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; border-image: initial;">HORN<u1:p></u1:p><o:p></o:p></td><td width="234" valign="top" style="width: 175.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">HN13-N101<u1:p></u1:p><o:p></o:p></td><td width="78" valign="top" style="width: 58.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">1<u1:p></u1:p><o:p></o:p></td></tr><tr><td width="103" style="width: 77.4pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; border-image: initial;">WASHER<u1:p></u1:p><o:p></o:p></td><td width="234" valign="top" style="width: 175.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">Teflon Washer (for Horn Assembly)<u1:p></u1:p><o:p></o:p></td><td width="78" valign="top" style="width: 58.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">1<u1:p></u1:p><o:p></o:p></td></tr><tr><td width="103" rowspan="3" style="width: 77.4pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; border-image: initial;">CABLE<u1:p></u1:p><o:p></o:p></td><td width="234" valign="top" style="width: 175.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">Robot Cable-X4P 180mm<u1:p></u1:p><o:p></o:p></td><td width="78" valign="top" style="width: 58.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">1<u1:p></u1:p><o:p></o:p></td></tr><tr style="height: 17.5pt;"><td width="234" valign="top" style="width: 175.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 17.5pt;">Robot Cable-X4P (Convertible) 180mm<u1:p></u1:p><o:p></o:p></td><td width="78" valign="top" style="width: 58.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 17.5pt;">1<u1:p></u1:p><o:p></o:p></td></tr><tr><td width="234" valign="top" style="width: 175.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;"></td><td width="78" valign="top" style="width: 58.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;"></td></tr><tr><td rowspan="3" style="border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; border-image: initial;">BOLT/NUT<u1:p></u1:p><o:p></o:p></td><td width="234" valign="top" style="width: 175.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">Wrench Bolt (WB M2.5*5)<u1:p></u1:p><o:p></o:p></td><td width="78" valign="top" style="width: 58.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">16<u1:p></u1:p><o:p></o:p></td></tr><tr><td width="234" valign="top" style="width: 175.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">Wrench Bolt (WB M2.5*4)<u1:p></u1:p><o:p></o:p></td><td width="78" valign="top" style="width: 58.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">10<u1:p></u1:p><o:p></o:p></td></tr><tr><td width="234" valign="top" style="width: 175.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">Wrench Bolt (WB M3*8)<u1:p></u1:p><o:p></o:p></td><td width="78" valign="top" style="width: 58.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">1<u1:p></u1:p><o:p></o:p></td></tr><tr><td style="border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; border-image: initial;">ETC<u1:p></u1:p><o:p></o:p></td><td width="234" valign="top" style="width: 175.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">Spacer Ring<u1:p></u1:p><o:p></o:p></td><td width="78" valign="top" style="width: 58.5pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt;">8<u1:p></u1:p><o:p></o:p></td></tr></tbody></table> <u1:p></u1:p><o:p></o:p> <u1:p></u1:p><o:p></o:p>■ Performance Comparison<img src="http://www.robotis.com/data/item/sharedfile/190115112630_nX3LVuoz_7d575045724c9ed385799d2fef5226b77b429d7d.png"><u1:p></u1:p><o:p></o:p><div> </div>■ H/W Specifications  <u1:p></u1:p><o:p></o:p><table class="MsoNormalTable" border="0" cellspacing="0" cellpadding="0" width="0" style="width: 674.25pt; border-collapse: collapse;"><tbody><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Model Name<o:p></o:p></td><td style="border-top: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-image: initial; border-left: none; padding: 2.25pt 4.5pt; height: 19.5pt;">XH540-V270-R<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">MCU<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">Cortex-M3 (72 [Mhz], 32 [bit])<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="207" rowspan="3" style="width: 155.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Input Voltage<o:p></o:p></td><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Min. [V]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">-<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Recommended [V]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">24.0<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Max. [V]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">-<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="207" rowspan="5" style="width: 155.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Performance Characteristics<o:p></o:p></td><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Voltage [V]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">24.0<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Stall Torque [N·m]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">9.20<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Stall Current [A]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">2.4<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">No Load Speed [rpm]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">34.0<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">No Load Current [A]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">0.06<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="207" rowspan="4" style="width: 155.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Continuous Operation<o:p></o:p></td><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Voltage [V]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">-<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Torque [N·m]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">-<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Speed [rpm]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">-<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Current [A]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">-<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="207" rowspan="3" style="width: 155.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Resolution<o:p></o:p></td><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Resolution [deg/pulse]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">0.0879<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Step [pulse]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">4,096<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Angle [degree]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">360<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Position Sensor<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">Contactless absolute encoder (12 [bit], 360 [deg]) Maker : ams(www.ams.com), Part No : AS5045<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="207" rowspan="2" style="width: 155.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Operating Temperature<o:p></o:p></td><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Min. [°C]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">-5<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Max. [°C]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">80<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Motor<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">Coreless (Maxon)<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="207" rowspan="2" style="width: 155.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Baud Rate<o:p></o:p></td><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Min. [bps]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">9,600<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="224" style="width: 155.25pt; border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Max. [bps]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">4,500,000<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Control Algorithm<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">PID<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Gear Type<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">Spur<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Gear Material<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">Precious Metal<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Case Material<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">Precious Metal(Front, Middle) Engineering Plastic(Back)<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Dimensions (WⅹHⅹD) [mm]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">33.5 X 58.5 X 44<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Dimensions (WⅹHⅹD) [inch]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">1.32 X 2.30 X 1.73<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Weight [g]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">165.00<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Weight [oz]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">5.82<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Gear Ratio<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">272.5 : 1<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Command Signal<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">Digital Packet<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Protocol Type<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Link (Physical)<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">RS485 Multi Drop Bus<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">ID<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">0 ~ 252<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Feedback<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc.<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Protocol version<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">1.0 2.0(Default)<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Operating Mode / Angle<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">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<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Output [W]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">-<o:p></o:p></td></tr><tr style="height: 19.5pt;"><td width="431" colspan="2" style="width: 323.25pt; border-right: 1pt solid rgb(212, 212, 212); border-bottom: 1pt solid rgb(212, 212, 212); border-left: 1pt solid rgb(212, 212, 212); border-image: initial; border-top: none; background: rgb(245, 248, 249); padding: 3.75pt 6pt; height: 19.5pt;">Standby Current [mA]<o:p></o:p></td><td style="border-top: none; border-left: none; border-bottom: 1pt solid rgb(212, 212, 212); border-right: 1pt solid rgb(212, 212, 212); padding: 2.25pt 4.5pt; height: 19.5pt;">36<o:p></o:p></td></tr></tbody></table>  ■ Compatible Products<u1:p></u1:p><o:p></o:p>Controller : OpenCM 485 Expansion Board, OpenCR1.0<u1:p></u1:p><o:p></o:p>Interface : USB2Dynamixel, U2D2<u1:p></u1:p><o:p></o:p> <o:p></o:p>■  Default Settings <u1:p></u1:p><o:p></o:p>ID : 1<u1:p></u1:p><o:p></o:p>Baud Rate : 57600bps<u1:p></u1:p><o:p></o:p>*Please make necessary modifications to ID, baud rate, etc. after purchase.<u1:p></u1:p><o:p></o:p> <u1:p></u1:p><o:p></o:p>  <u1:p></u1:p><o:p></o:p>■ Various Cabling Methods<u1:p></u1:p><o:p></o:p> <div style="text-align: center;"><img src="http://www.robotis-shop-kr.com/data/file/M6XWAR7E5eA7h9RBLhku4JJwS6ryiWT.png" width="708" height="248" alt="VARIOUS CABLING METHODS.png" style="border: none;"></div> <o:p></o:p> ■   Caution<u1:p></u1:p><o:p></o:p> DYNAMIXEL X-Series cable assembly through hollow case<u1:p></u1:p><o:p></o:p>Organize the entangled cable before assembling the back case.<u1:p></u1:p><o:p></o:p>Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error.<u1:p></u1:p><o:p></o:p>If you use two cables through the hollow case, the cables will be damaged.<u1:p></u1:p><o:p></o:p>Use only one cable through the hollow case.<u1:p></u1:p><o:p></o:p> <o:p></o:p>The DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication.<u1:p></u1:p><o:p></o:p>The connector used for previous Dynamixel is Molex.<u1:p></u1:p><o:p></o:p> <o:p></o:p>To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.<u1:p></u1:p><o:p></o:p> <o:p></o:p>However, the Molex-JST convertible cable is NOT included in the XL430 model.<u1:p></u1:p><o:p></o:p>Please purchase a convertible cable when using a controller and interface that supports the JST connector.<u1:p></u1:p><o:p></o:p> <o:p></o:p> <o:p></o:p><table class="MsoNormalTable" border="0" cellspacing="0" cellpadding="0" style="border-collapse: collapse;"><tbody><tr style="height: 5.35pt;"><td width="282" colspan="2" style="width: 212.65pt; border: 1pt solid windowtext; background: rgb(191, 191, 191); padding: 0cm 5.4pt; height: 5.35pt;">Controller / Interface Board<u1:p></u1:p><o:p></o:p></td><td width="221" rowspan="2" style="width: 168.4pt; border-top: 1pt solid windowtext; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: none; background: rgb(191, 191, 191); padding: 0cm 5.4pt; height: 5.35pt; border-image: initial;">Cable<u1:p></u1:p><o:p></o:p></td><td width="204" colspan="2" style="width: 134.6pt; border-top: 1pt solid windowtext; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: none; background: rgb(191, 191, 191); padding: 0cm 5.4pt; height: 5.35pt; border-image: initial;">Dynamixel X<u1:p></u1:p><o:p></o:p></td></tr><tr style="height: 5.35pt;"><td width="172" style="width: 129.2pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; background: rgb(191, 191, 191); padding: 0cm 5.4pt; height: 5.35pt; border-image: initial;">Model<u1:p></u1:p><o:p></o:p></td><td width="111" valign="top" style="width: 83.45pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; background: rgb(191, 191, 191); padding: 0cm 5.4pt; height: 5.35pt;">Supports Connectors :<u1:p></u1:p><o:p></o:p></td><td width="99" style="width: 74.8pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; background: rgb(191, 191, 191); padding: 0cm 5.4pt; height: 5.35pt;">Supports Connectors :<u1:p></u1:p><o:p></o:p></td><td width="104" style="width: 59.8pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; background: rgb(191, 191, 191); padding: 0cm 5.4pt; height: 5.35pt;">Communication<u1:p></u1:p><o:p></o:p></td></tr><tr style="height: 5.35pt;"><td width="172" style="width: 129.2pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; height: 5.35pt; border-image: initial;">OpenCM+485 Expansion Board<u1:p></u1:p><o:p></o:p></td><td width="111" rowspan="2" style="width: 83.45pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 5.35pt;">Molex (3P, 4P)<u1:p></u1:p><o:p></o:p></td><td width="221" rowspan="2" style="width: 168.4pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 5.35pt;">Robot Cable-X3P 180mm (Convertible)<u1:p></u1:p><o:p></o:p></td><td width="99" rowspan="4" style="width: 74.8pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 5.35pt;">JST-3P<u1:p></u1:p><o:p></o:p></td><td width="104" rowspan="4" style="width: 59.8pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 5.35pt;">TTL<u1:p></u1:p><o:p></o:p></td></tr><tr style="height: 11.15pt;"><td width="172" style="width: 129.2pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; height: 11.15pt; border-image: initial;">USB2Dynamixel<u1:p></u1:p><o:p></o:p></td></tr><tr style="height: 12.2pt;"><td width="172" style="width: 129.2pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; height: 12.2pt; border-image: initial;">OpenCR1.0<u1:p></u1:p><o:p></o:p></td><td width="111" rowspan="2" style="width: 83.45pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 12.2pt;">JST (3P, 4P)<u1:p></u1:p><o:p></o:p></td><td width="221" rowspan="2" style="width: 168.4pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 12.2pt;">Robot Cable -X3P (by length)<u1:p></u1:p><o:p></o:p></td></tr><tr style="height: 12.2pt;"><td width="172" style="width: 129.2pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; height: 12.2pt; border-image: initial;">U2D2<u1:p></u1:p><o:p></o:p></td></tr><tr style="height: 12.2pt;"><td width="172" style="width: 129.2pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; height: 12.2pt; border-image: initial;">OpenCM+485 Expansion Board<u1:p></u1:p><o:p></o:p></td><td width="111" rowspan="2" style="width: 83.45pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 12.2pt;">Molex (3P, 4P)<u1:p></u1:p><o:p></o:p></td><td width="221" rowspan="2" style="width: 168.4pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 12.2pt;">Robot Cable -X4P 180mm (Convertible)<u1:p></u1:p><o:p></o:p></td><td width="99" rowspan="4" style="width: 74.8pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 12.2pt;">JST-4P<u1:p></u1:p><o:p></o:p></td><td width="104" rowspan="4" style="width: 59.8pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 12.2pt;">RS-485<u1:p></u1:p><o:p></o:p></td></tr><tr style="height: 12.2pt;"><td width="172" style="width: 129.2pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; height: 12.2pt; border-image: initial;">USB2Dynamixel<u1:p></u1:p><o:p></o:p></td></tr><tr style="height: 12.2pt;"><td width="172" style="width: 129.2pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; height: 12.2pt; border-image: initial;">OpenCR1.0<u1:p></u1:p><o:p></o:p></td><td width="111" rowspan="2" style="width: 83.45pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 12.2pt;">JST (3P, 4P)<u1:p></u1:p><o:p></o:p></td><td width="221" rowspan="2" style="width: 168.4pt; border-top: none; border-left: none; border-bottom: 1pt solid windowtext; border-right: 1pt solid windowtext; padding: 0cm 5.4pt; height: 12.2pt;">Robot Cable -X4P (by length)<u1:p></u1:p><o:p></o:p></td></tr><tr style="height: 12.2pt;"><td width="172" style="width: 129.2pt; border-right: 1pt solid windowtext; border-bottom: 1pt solid windowtext; border-left: 1pt solid windowtext; border-top: none; padding: 0cm 5.4pt; height: 12.2pt; border-image: initial;">U2D2<u1:p></u1:p><o:p></o:p></td></tr></tbody></table> <o:p></o:p><div style="text-align: center;"><img src="http://www.robotis-shop-kr.com/data/file/mESs2WnHNO5nV6KYXhKgMMDehtQoNZ.png" width="717" height="791" alt="XH 맨밑.png" style="border: none;"></div> <o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">■ Hyperlinks<u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">Frame, Horn, Bearing Compatible Chart : <a href="http://en.robotis.com/BlueAD/board.php?bbs_id=faq&mode=view&bbs_no=50&page=1&key=&keyword=&sort=&scate=COMPATIBILITY">Click Here</a><u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">Controller Compatibility Chart : <a href="http://support.robotis.com/en/techsupport_eng.htm#product/controller_main.htm">Click Here</a><u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">Download Drawing : <a href="http://en.robotis.com/BlueAD/board.php?bbs_id=downloads&mode=view&bbs_no=26324&page=1&key=&keyword=&sort=&scate=DRAWING">Click Here</a><u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">Dynamixel SDK : <a href="http://support.robotis.com/en/software/dynamixelsdk.htm">Click Here</a><u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">OpenCM IDE : <a href="http://support.robotis.com/en/software/robotis_opencm/robotis_opencm.htm">Click Here</a><u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">Software RoboPlus (R+) : <a href="http://support.robotis.com/en/techsupport_eng.htm#software/roboplus_main.htm">Click Here</a><u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <u1:p></u1:p><o:p></o:p><p class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">Link to e-Manual : <a href="http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm540-w150.htm">Click Here</a><o:p></o:p>

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