Edit on GitHub
Features
DYNAMIXEL-X Series Lineups
Features
- Improved Torque, Compact Size.
- Enhanced Durability and Expansibility.
- Hollow Back Case Minimizes Cable Stress (3-way-routing).
- Direct Screw Assembly to the Case (without Nut Insert).
- Improved Heat Sink Featuring an Aluminum Case.
Various Control Functions
- Current-Based Torque Control.
- Profile Control for Smooth Motion Planning.
- Trajectory Data and Moving Status (In-Position, Following Error, etc).
- Energy Saving (Reduced Current from 100mA to 40mA).
- Various Operating Modes
- Current based Position Control (XW/XH/XM/XC330/XL330 only).
- Current Control (XW/XH/XM/XC330/XL330 only only).
- Velocity Control.
- Position Control.
- Extended Position Control.
- PWM Control (Voltage Control Mode).
X Series
Common Specifications
- MCU : ARM CORTEX-M3 (72 [MHz], 32Bit)
- Resolution : 4096 [pulse/rev]
- Motor :
- XD Series : Coreless (Maxon)
- XW Series : Coreless (Maxon)
- XH Series : Coreless (Maxon)
- XM Series : Coreless
- XC Series : Coreless
- XL Series : Cored
XL320 has different specifications from other XL-Series. Please refer to XL-320 Specifications for more details.
XW Series
| Model | Stall Torque | No Load Speed |
|---|---|---|
| XW540-T260-R | 8.8 [N.m] (at 11.1 [V], 4.5 [A]) 9.5 [N.m] (at 12.0 [V], 4.9 [A]) 11.2 [N.m] (at 14.8 [V], 5.9 [A]) |
37 [rev/min] (at 11.1 [V]) 40 [rev/min] (at 12.0 [V]) 48 [rev/min] (at 14.8 [V]) |
| XW540-T140-R | 6.4 [N.m] (at 11.1 [V], 4.5 [A]) 6.9 [N.m] (at 12.0 [V], 4.9 [A]) 8.3 [N.m] (at 14.8 [V], 5.9 [A]) |
67 [rev/min] (at 11.1 [V] 72 [rev/min] (at 12.0 [V] 88 [rev/min] (at 14.8 [V]) |
| XW430-T333-R | 2.9 [N.m] (at 11.1 [V], 1.2 [A]) 3.1 [N.m] (at 12.0 [V], 1.3 [A]) 3.6 [N.m] (at 14.8 [V], 1.5 [A]) |
29 [rev/min] (at 11.1 [V] 31 [rev/min] (at 12.0 [V] 39 [rev/min] (at 14.8 [V]) |
| XW430-T200-R | 6.4 [N.m] (at 11.1 [V], 4.5 [A]) 6.9 [N.m] (at 12.0 [V], 4.9 [A]) 8.3 [N.m] (at 14.8 [V], 5.9 [A]) |
49 [rev/min] (at 11.1 [V] 53 [rev/min] (at 12.0 [V] 66 [rev/min] (at 14.8 [V]) |
XD Series
| Model | Stall Torque | No Load Speed |
|---|---|---|
| XD540-T270-R | 9.2 [N.m] (at 11.1 [V], 4.5 [A]) 9.9 [N.m] (at 12.0 [V], 4.9 [A]) 11.7 [N.m] (at 14.8 [V], 5.9 [A]) |
36 [rev/min] (at 11.1 [V]) 39 [rev/min] (at 12.0 [V]) 46 [rev/min] (at 14.8 [V]) |
| XD540-T150-R | 6.6 [N.m] (at 11.1 [V], 4.5 [A]) 7.1 [N.m] (at 12.0 [V], 4.9 [A]) 8.5 [N.m] (at 14.8 [V], 5.9 [A]) |
66 [rev/min] (at 11.1 [V]) 70 [rev/min] (at 12.0 [V]) 86 [rev/min] (at 14.8 [V]) |
| XD430-T350-R | 3.1 [N.m] (at 11.1 [V], 1.2 [A]) 3.4 [N.m] (at 12.0 [V], 1.3 [A]) 4.2 [N.m] (at 14.8 [V], 1.5 [A]) |
27 [rev/min] (at 11.1 [V]) 30 [rev/min] (at 12.0 [V]) 37 [rev/min] (at 14.8 [V]) |
| XD430-T210-R | 2.2 [N.m] (at 11.1 [V], 1.2 [A]) 2.5 [N.m] (at 12.0 [V], 1.3 [A]) 3.1 [N.m] (at 14.8 [V], 1.5 [A]) |
46 [rev/min] (at 11.1 [V]) 50 [rev/min] (at 12.0 [V]) 62 [rev/min] (at 14.8 [V]) |
XH Series
| Model | Stall Torque | No Load Speed |
|---|---|---|
| XH540-V270-R | 9.2 [N.m] (at 24 [V], 2.4 [A]) | 34 [rev/min] (at 24 [V]) |
| XH540-W270-T/R | 9.2 [N.m] (at 11.1 [V], 4.5 [A]) 9.9 [N.m] (at 12.0 [V], 4.9 [A]) 11.7 [N.m] (at 14.8 [V], 5.9 [A]) |
36 [rev/min] (at 11.1 [V]) 39 [rev/min] (at 12.0 [V]) 46 [rev/min] (at 14.8 [V]) |
| XH540-V150-R | 6.4 [N.m] (at 24 [V], 2.4 [A]) | 60 [rev/min] (at 24 [V]) |
| XH540-W150-T/R | 6.6 [N.m] (at 11.1 [V], 4.5 [A]) 7.1 [N.m] (at 12.0 [V], 4.9 [A]) 8.5 [N.m] (at 14.8 [V], 5.9 [A]) |
66 [rev/min] (at 11.1 [V]) 70 [rev/min] (at 12.0 [V]) 86 [rev/min] (at 14.8 [V]) |
| XH430-V350-R | 3.3 [N.m] (at 24 [V], 0.7[A]) | 31 [rev/min] (at 24 [V]) |
| XH430-W350-T/R | 3.1 [N.m] (at 11.1 [V], 1.2 [A]) 3.4 [N.m] (at 12.0 [V], 1.3 [A]) 4.2 [N.m] (at 14.8 [V], 1.5 [A]) |
27 [rev/min] (at 11.1 [V]) 30 [rev/min] (at 12.0 [V]) 37 [rev/min] (at 14.8 [V]) |
| XH430-V210-R | 2.6 [N.m] (at 24 [V], 0.7[A]) | 52 [rev/min] (at 24 [V]) |
| XH430-W210-T/R | 2.2 [N.m] (at 11.1 [V], 1.2 [A]) 2.5 [N.m] (at 12.0 [V], 1.3 [A]) 3.1 [N.m] (at 14.8 [V], 1.5 [A]) |
46 [rev/min] (at 11.1 [V]) 50 [rev/min] (at 12.0 [V]) 62 [rev/min] (at 14.8 [V]) |
XM Series
| Model | Stall Torque | No Load Speed |
|---|---|---|
| XM540-W270-T/R | 10.0[N.m] (at 11.1 [V], 4.2 [A]) 10.6 [N.m] (at 12.0 [V], 4.4 [A]) 12.9 [N.m] (at 14.8 [V], 5.5 [A]) |
28 [rev/min] (at 11.1 [V]) 30 [rev/min] (at 12.0 [V]) 37 [rev/min] (at 14.8 [V]) |
| XM540-W150-T/R | 6.9 [N.m] (at 11.1 [V], 4.2 [A]) 7.3 [N.m] (at 12.0 [V], 4.4 [A]) 8.9 [N.m] (at 14.8 [V], 5.5 [A]) |
50 [rev/min] (at 11.1 [V]) 53 [rev/min] (at 12.0 [V]) 66 [rev/min] (at 14.8 [V]) |
| XM430-W350-T/R | 3.8 [N.m] (at 11.1 [V], 2.1 [A]) 4.1 [N.m] (at 12.0 [V], 2.3 [A]) 4.8 [N.m] (at 14.8 [V], 2.7 [A]) |
43 [rev/min] (at 11.1 [V]) 46 [rev/min] (at 12.0 [V]) 57 [rev/min] (at 14.8 [V]) |
| XM430-W210-T/R | 2.7 [N.m] (at 11.1 [V], 2.1 [A]) 3.0 [N.m] (at 12.0 [V], 2.3 [A]) 3.7 [N.m] (at 14.8 [V], 2.7 [A]) |
70 [rev/min] (at 11.1 [V]) 77 [rev/min] (at 12.0 [V]) 95 [rev/min] (at 14.8 [V]) |
XC Series
| Model | Stall Torque | No Load Speed |
|---|---|---|
| 2XC430-W250 | 1.3 [N.m] (at 9.0 [V], 1.1 [A]) 1.6 [N.m] (at 11.1 [V], 1.3 [A]) 1.8 [N.m] (at 12.0 [V], 1.4 [A]) |
48 [rev/min] (at 9.0 [V]) 59 [rev/min] (at 11.1 [V]) 64 [rev/min] (at 12.0 [V]) |
| XC430-W240-T | 1.4 [N.m] (at 9.0 [V], 1.1 [A]) 1.7 [N.m] (at 11.1 [V], 1.3 [A]) 1.9 [N.m] (at 12.0 [V], 1.4 [A]) |
52 [rev/min] (at 9.0 [V]) 65 [rev/min] (at 11.1 [V]) 70 [rev/min] (at 12.0 [V]) |
| XC430-W150-T | 1.2 [N.m] (at 9.0 [V], 1.1 [A]) 1.4 [N.m] (at 11.1 [V], 1.3 [A]) 1.6 [N.m] (at 12.0 [V], 1.4 [A]) |
80 [rev/min] (at 9.0 [V]) 99 [rev/min] (at 11.1 [V]) 106 [rev/min] (at 12.0 [V]) |
| XC430-T240BB-T | 1.4 [N.m] (at 9.0 [V], 1.1 [A]) 1.7 [N.m] (at 11.1 [V], 1.3 [A]) 1.9 [N.m] (at 12.0 [V], 1.4 [A]) |
52 [rev/min] (at 9.0 [V]) 65 [rev/min] (at 11.1 [V]) 70 [rev/min] (at 12.0 [V]) |
| XC430-T150BB-T | 1.2 [N.m] (at 9.0 [V], 1.1 [A]) 1.4 [N.m] (at 11.1 [V], 1.3 [A]) 1.6 [N.m] (at 12.0 [V], 1.4 [A]) |
80 [rev/min] (at 9.0 [V]) 99 [rev/min] (at 11.1 [V]) 106 [rev/min] (at 12.0 [V]) |
| XC330-T288 | 0.76 [N.m] (at 9.0 [V], 0.61 [A]) 0.92 [N.m] (at 11.1 [V], 0.80 [A]) 1.00 [N.m] (at 12.0 [V], 0.88 [A]) |
52 [rev/min] (at 9.0 [V]) 65 [rev/min] (at 11.1 [V]) 71 [rev/min] (at 12.0 [V]) |
| XC330-T181 | 0.65 [N.m] (at 9.0 [V], 0.61 [A]) 0.76 [N.m] (at 11.1 [V], 0.80 [A]) 0.80 [N.m] (at 12.0 [V], 0.88 [A]) |
83 [rev/min] (at 9.0 [V]) 104 [rev/min] (at 11.1 [V]) 113 [rev/min] (at 12.0 [V]) |
| XC330-M288 | 0.69 [N.m] (at 3.7 [V], 1.34 [A]) 0.93 [N.m] (at 5.0 [V], 1.80 [A]) 1.10 [N.m] (at 6.0 [V], 2.15 [A]) |
59 [rev/min] (at 3.7 [V]) 81 [rev/min] (at 5.0 [V]) 97 [rev/min] (at 6.0 [V]) |
| XC330-M181 | 0.52 [N.m] (at 3.7 [V], 1.34 [A]) 0.60 [N.m] (at 5.0 [V], 1.80 [A]) 0.66 [N.m] (at 6.0 [V], 2.15 [A]) |
95 [rev/min] (at 3.7 [V]) 129 [rev/min] (at 5.0 [V]) 155 [rev/min] (at 6.0 [V]) |
XL Series
| Model | Stall Torque | No Load Speed |
|---|---|---|
| 2XL430-W250-T | 1.0 [N.m] (at 9.0 [V], 1.0 [A]) 1.4 [N.m] (at 11.1 [V], 1.3 [A]) 1.5 [N.m] (at 12.0 [V], 1.4 [A]) |
47 [rev/min] (at 9.0 [V]) 57 [rev/min] (at 11.1 [V]) 61 [rev/min] (at 12.0 [V]) |
| XL430-W250-T | 1.0 [N.m] (at 9.0 [V], 1.0 [A]) 1.4 [N.m] (at 11.1 [V], 1.3 [A]) 1.5 [N.m] (at 12.0 [V], 1.4 [A]) |
47 [rev/min] (at 9.0 [V]) 57 [rev/min] (at 11.1 [V]) 61 [rev/min] (at 12.0 [V]) |
| XL330-M288 | 0.42 [N.m] (at 3.7 [V], 1.11 [A]) 0.52 [N.m] (at 5.0 [V], 1.47 [A]) 0.60 [N.m] (at 6.0 [V], 1.74 [A]) |
76 [rev/min] (at 3.7 [V]) 103 [rev/min] (at 5.0 [V]) 123 [rev/min] (at 6.0 [V]) |
| XL330-M077 | 0.180 [N.m] (at 3.7 [V], 1.11 [A]) 0.215 [N.m] (at 5.0 [V], 1.47 [A]) 0.228 [N.m] (at 6.0 [V], 1.74 [A]) |
278 [rev/min] (at 3.7 [V]) 383 [rev/min] (at 5.0 [V]) 456 [rev/min] (at 6.0 [V]) |
| XL-320 | 0.39[N.m] (at 7.4 [V], 1.1 [A]) | 114 [rev/min] (at 7.4 [V], 0.18[A]) |