The XL330 series is a compact and lightweight DYNAMIXEL which is very useful solution when building a small application or operating DYNAMIXELs in a small space. 

Unlike previous entry level models, the voltage range is 3.7V ~ 6V and XL330 comes with various operating modes including Current Based Position Control and Current Control

1.Various Operating Modes

Velocity Control, Position Control, Extended Position Control, PWM Control, Current Control, Current Based Position Control 

2.Profile Control for Smooth Motion Planning

3.Input Voltage : 3.7V ~ 6V ( Recommended 5V)

4.Small sized DYNAMIXEL model - Dimension : 20 X 34 X 25 (WⅹHⅹD) [mm]  & Weight : 18g

5.Support RC Protocol without additional converting device

6.Energy Saving with Reduced Current

Package Components

Item NameQuantityDescription
Robot Cable-X3P 180mm1TTL 3P Cable (JST - JST)
PHS M2x6 TAP6Bolts for horns
PHS M2x8 TAP10Bolts for frames

* Please purchase the frames for the X330 models separately.

* The idler and the idler cap are included in the FPX330-H101 4PCS Set. (Not sold as a standalone.)

Compatible Products

Controller : Arduino MKR Shield
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
Model Name XL330-M077-T
MCU Cortex-M0+ (64 [MHz], 32bit)
Input Voltage Min. [V] 3.7
Recommended [V] 5.0
Max. [V] 6.0
Performance Characteristics Voltage [V] 5.0
Stall Torque [N·m] 0.22
Stall Current [A] 1.5
No Load Speed [rpm] 363.0
No Load Current [A] 0.15
Continuous Operation Voltage [V] -
Torque [N·m] -
Speed [rpm] -
Current [A] -
Resolution Resolution [deg/pulse] 0.0879
Step [pulse/rev] 4,096
Angle [degree] 360
Position Sensor Contactless absolute encoder (12Bit, 360 [deg])
Maker : ams(www.ams.com), Part No : AS5601
Operating Temperature Min. [°C] -5
Max. [°C] 60
Motor Cored
Baud Rate Min. [bps] 9,600
Max. [bps] 4,000,000
Control Algorithm PID
Gear Type Spur
Gear Material Engineering Plastic
Case Material Engineering Plastic
Dimensions (WⅹHⅹD) [mm] 20 X 34 X 26
Dimensions (WⅹHⅹD) [inch] 0.78 X 1.33 X 1.02
Weight [g] 18.00
Weight [oz] 0.63
Gear Ratio 77.5 : 1
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical) TTL Level Multi Drop Bus
ID 0 ~ 252
Feedback Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Protocol Type Protocol 2.0 Experimental S.BUS Experimental iBUS RC-PWM
Operating Mode / Angle 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
Output [W] -
Standby Current [mA] 15