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
PM54-040-S250-R1
Robot Cable-X4P 300mm(Convertible)1
Robot Cable-X4P 300mm1
Power Cable-2P 600mm1
Wrench Bolt WB M3x820
Compatible Products

Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0

Interface : USB2Dynamixel, U2D2

Factory Default Settings

ID : 1

Baud Rate : 57600bps


(User can change various settings including ID and baud rate according to environment)

Performance Comparison
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.

Molex 4Pin connector is used for communication.

Specification
Model Name PM54-040-S250-R
MCU 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] 28.4
No Load Current [A] 1.32
Continuous Operation Voltage [V] 24.0
Torque [N·m] 3.9
Speed [rpm] 24.2
Current [A] 1.9
Resolution Resolution [deg/pulse] 0.0007
Step [pulse/rev] 502,834
Angle [degree] 360
Position Sensor Contactless absolute encoder Incremental encoder
Operating Temperature Min. [°C] -5
Max. [°C] 55
Motor BLDC (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] 54.0 X 108.0 X 54.0
Dimensions (WⅹHⅹD) [inch] 2.13 x 4.25 x 2.13
Weight [g] 710.00
Weight [oz] 25.04
Gear Ratio 251.4 : 1
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical) RS485 Multi Drop Bus
ID 0 ~ 252
Feedback Position, Velocity, Current, Temperature, Voltage, External Port, etc
Protocol Type 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] 40
Standby Current [mA] 40