Features

DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Controller + Driver + Sensor + Reduction Gear + Network in one DC servo module.

DYNAMIXEL-P Series implements removable reduction cycloid gears, resulting in high precision and impact resistance.

 

- Torque control based on current sensing

- Position, Torque and Speed-based command

- High resolution with combination of Incremental Encoder and Contactless Absolute Encoder

- Full metal housing for high durability

- Can be used to make a full-size manipulator, pan tilt, humanoid, etc.


[DYNAMIXEL PRO -> P] Upgrade Details

- Improved design and JST connectors applied

- Improved dirt inflow and leakage

- Improved control table (Supports X Series functions) 

- Enhanced control performance such as responsiveness and resolution

- Enhanced communication responsiveness

- Improved heat, noise, and durability


Package Components
ItemQuantityDescription
PH42-020-S300-R1DYNAMIXEL
Robot Cable-X4P 300mm(Convertible)1RS485 4p Cable(MOLEX-JST)
Robot Cable-X4P 300mm1RS485 4p Cable(JST-JST)
Wrench Bolt WB M3x820For frame assembly
Caution

The operational voltage is different from other DYNAMIXEL series (Operational voltage: 24V).

Depending on the number of units used, it is recommended to use a separate power supply.

JST 4Pin connector is applied for communication.

The 42 series uses the same hinge frames.(FRP42-H110/120)

Specification
Model Name PH42-020-S300-R
Series DYNAMIXEL P
MCU ARM Cortex-M4 (168 [Mhz], 32 [bit])
Input Voltage Min. [V] -
Recommended [V] 24.0
Max. [V] -
Performance Characteristics Voltage [V] 24.0
Stall Torque [N·m] -
Stall Current [A] -
No Load Speed [rpm] 32.7
No Load Current [A] 0.57
Continuous Operation Voltage [V] 24.0
Torque [N·m] 5.1
Speed [rpm] 29.2
Current [A] 1.5
Resolution Resolution [deg/pulse] 0.0006000000
Step [pulse/rev] 607,500
Angle [degree] 360
Position Sensor Contactless absolute encoder Incremental encoder
Operating Temperature Min. [°C] -5
Max. [°C] 55
Motor Coreless (Maxon)
Baud Rate Min. [bps] 9,600
Max. [bps] 10,500,000
Control Algorithm PID
Gear Type Cycloid
Gear Material Metal
Case Material Metal
Dimensions (WⅹHⅹD) [mm] 42.0 x 84.0 x 42.0
Dimensions (WⅹHⅹD) [inch] 1.65 x 3.31 x 1.65
Weight [g] 340.00
Weight [oz] 11.99
Gear Ratio 303.8 : 1
Backlash [arcmin] 6
Backlash [deg] 0.10
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical) RS485 Multidrop Bus
ID 0 ~ 252
Feedback Position, Velocity, Current, Temperature, Voltage, External Port, etc
Protocol version Protocol 2.0
Modbus
Operating Mode / Angle Current Control mode:Endless turn
Velocity Control mode:Endless turn
Position Control Mode:360 [deg]
Extended Position Control Mode
PWM Control Mode:Endless turn
Output [W] 20
Standby Current [mA] 30