DYNAMIXEL P Series

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Product Name:PH54-200-S500-R
Product Code:902-0079-001
Availability:Yes
  
Product description:

PH54-200-S500-R

 

Feature

DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + 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 Component

PH54-200-S500-R

1

Robot Cable-X4P 300mm(Convertible)

1

Robot Cable-X4P 300mm

1

Power Cable-2P 600mm

1

Wrench Bolt WB M3x8

20

Compatible Products

Controller : OpenCM 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.

JST 4Pin connector is applied for communication.

The 54-series can NOT use the old hinge frames.

NOT COMPATIBLE with FRP54-H110/120/210/220)

Specification

Model Name

PH54-200-S500-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]

33.1

No Load Current [A]

1.65

Continuous Operation *)

Voltage [V]

24.0

Torque [N·m]

44.7

Speed [rpm]

29.0

Current [A]

9.3

Resolution

Resolution [deg/pulse]

0.0004

Step [pulse]

1,003,846

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 (WHD) [mm]

54.0 X 126.0 X 54.0

Dimensions (WHD) [inch]

2.13 x 4.96 x 2.13

Weight [g]

855.00

Weight [oz]

30.16

Gear Ratio

501.9 : 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 version

Protocol 2.0

Operating Mode / Angle

Torque Control Mode
Velocity Control Mode
Position Control Mode
Extended Position Control Mode
PWM Control Mode

Output [W]

200

Standby Current [mA]

40

* ) These specifications are calculated based on the specifications of the core motor. Please consult ROBOTCLUB Malaysia for the long term use or special use, or else refer to the Performance Graph for general use.

Links

· e-Manual

· Drawing

· Compatibility Guide

· Selection Guide

· DYNAMIXEL SDK





902-0079-001-PH54-200-S500-R
 
 
 
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