Tuesday, June 05, 2012

Dynamixel MX-28T, intelligent servo with PID

Dynamixel servo motors with built in internal PID controller
Specifications:
- Type of round: 0-360 degrees or endles turn (Continuous)
- Type of control: Digital / ST Cortex-M3 (STM32F103C8 @ 72MHZ, 32bit) by PID algorithm Control
- Working Voltage: 9VDC - 14.8 VDC
- Current consumption: 100 mA (stand by)
- Maximum torque: 2.45M.m (12V, 1.5 A)
- Rotational speed Maximum: 54 rmp (@ 12 VDC, no load)
- Dimensions: 35.6 mm x 50.6 mm x 35.5 mm

Hardware Specs:

  • MCU : ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT)
  • POSITION SENSOR : Contactless absolute encoder (12BIT,360 DEGREE)
  • MOTOR : Maxon
  • BAUD RATE : 8000 bps ~ 3 Mbps
  • CONTROL ALGORITHM : PID CONTROL
  • Resolution : 0.088°
  • Running Degree
  • 0° ~ 360°
  • Endless Turn
  • Weight : 72g
  • Dimension : 35.6mm x 50.6mm x 35.5mm
  • Gear Reduction Ratio : 193 : 1
  • Stall Torque
  • 2.3N.m (at 11.1V, 1.3A),
  • 2.5N.m (at 12V, 1.4A)
  • 3.1N.m (at 14.8V, 1.7A)
  • No load speed
  • 50rpm (at 11.1V)
  • 55rpm (at 12V)
  • 67rpm (at 14.8V)
  • Running Temperature : -5℃ ~ +80℃
  • Voltage : 10 ~ 14.8V (Recommended Voltage 12V)
  • Command Signal : Digital Packet
  • Protocol Type
  • MX-28T (Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity))
  • MX-28R (RS485 Asynchronous Serial Communication (8bit,1stop, No Parity))
  • Link (Physical)
  • MX-28T (TTL Level Multi Drop Bus)
  • MX-28R (RS485 Multi Drop Bus)
  • ID : 254 ID (0~253)
  • Feedback : Position, Temperature, Load, Input Voltage, etc.
  • Material : Full Metal Gear, Engineering Plastic Body
  • Standby current : 100 mA