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Specification

Specifications

Item OpenMANIPULATOR-PRO RM-P60-RNH
DOF 6
Payload 3 kg
Reach 645 mm
Repeatability ±0.05 mm
Weight 5 kg
Operating voltage 24 V
Resolution Joint 1 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 2 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 3 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 4 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 5 : -π(rad) ~ π(rad) , -303,750 ~ 303,750 (pulse)
Joint 6 : -π(rad) ~ π(rad) , -303,750 ~ 303,750 (pulse)
Dynamixel Pro
Model Name
Joint 1, 2 : H54P-200-S500-R (200W)
Joint 3, 4 : H54P-100-S500-R(100W)
Joint 5, 6 : H42P-020-S300-R (20W)
Operating Range Joint 1 : -π(rad) ~ π(rad)
Joint 2 : -π/2(rad) ~ π/2(rad)
Joint 3 : -π/2(rad) ~ 3π/4(rad)
Joint 4 : -π(rad) ~ π(rad)
Joint 5 : -π/2(rad) ~ π/2(rad)
Joint 6 : -π(rad) ~ π(rad)
Default ID Joint 1 (ID:1), Joint 2 (ID:2), Joint 3 (ID:3),
Joint 4 (ID:4), Joint 5 (ID:5), Joint 6 (ID:6)
Motor type Brushless DC Servo(H54P Series),
Coreless DC Motor(H42P Series)
Position sensor type Absolute Encoder(for Homing),
Incremental Encoder(for Control)
Communications RS485
Communication Baudrate 1000000 bps

Dimension

If you have a gripper(RH-P12-RN(A)), see below.

Workspace

Home Position

The diagram below shows the “home position” of the Dynamixel PRO+s from OpenMANIPULATOR-PRO.

D-H Configuration

Link Link Length(mm) Link Twist(rad) Joint Offset(mm) Joint Angle(rad) DXL Angle(rad)
1 0 -π/2 0 0 0
2 265.69 0 0 0
3 30 -π/2 0 0
4 0 -π/2 258 0 0
5 0 -π/2 0 0 0
6 0 0 0 0 0

Mass Property

Coordinate

Total Mass : 5,551g