Data Sheet

ManualsBrandsRobotis ManualsDynamixel Smart Servo MotorsXM540-W270-R Dynamixel Smart Servo Motor

2/23/2018 XM540-W270

http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm540-w270.htm 1/17

XM540-W270-T / XM540-W270-R

Part Photo

[XM540-W270-T / XM540-W270-R]

H/W Specifications

MCU : ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT)

POSITION SENSOR : Contactless absolute encoder (12BIT, 360°)

Motor : Coreless

Baud Rate : 9600 bps ~ 4.5 Mbps

Control Algorithm : PID CONTROL

Degree of Precision : 0.088°

Operating Modes

Current Control Mode

Velocity Control Mode

Position Control Mode (0° ~ 360°)

Extended Position Control Mode (Multi-turn)

Current-based Position Control Mode

PWM Control Mode

Weight : 165g

Dimensions(W x H x D) : 33.5mm x 58.5mm x 44mm

Gear Ratio : 272.5 : 1

Stall Torque

10.0N.m (at 11.1V, 4.2A)

10.6N.m (at 12.0V, 4.4A)

12.9N.m (at 14.8V, 5.5A)

No load speed

28rpm (at 11.1V)

30rpm (at 12.0V)

37rpm (at 14.8V)

Operating Temperature : -5℃ ~ +80℃

Input Voltage : 10 ~ 14.8V (Recommended : 12V)

Command Signal : Digital Packet

Protocol Type

XM540-W270-T (Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)

XM540-W270-R (RS485 Asynchronous Serial Communication (8bit, 1stop, No Parity)

Link (Physical)

XM540-W270-T (TTL Level Multi Drop Bus)

XM540-W270-R (RS485 Multi Drop Bus)

ID : 253 ID (0~252)

Feedback : Position, Velocity, Current, Real-time tick, Trajectory, Temperature, Input Voltage, etc.

Material : Full Metal Gear, Metal Body(Front, Middle), Engineering Plastic Body(Back)

Summary of content (17 pages)

PAGE 1
2/23/2018 XM540-W270 XM540-W270-T / XM540-W270-R Part Photo [XM540-W270-T / XM540-W270-R] H/W Specifications MCU : ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT) POSITION SENSOR : Contactless absolute encoder (12BIT, 360°) Motor : Coreless Baud Rate : 9600 bps ~ 4.5 Mbps Control Algorithm : PID CONTROL Degree of Precision : 0.
PAGE 2
/23/2018 XM540-W270 Standby current : 40 mA The max torque measurement method for the Stall Torque and Performance Graph are different. Stall torque is measured from the max torque that it can reach. This is generally how traditional RC servos measure maximum torque. The Performance graph which is also called the N-T Curve, measured by gradually increasing the load. The actual motor operating environment is similar to the performance graph, not stall torque measurement method.
PAGE 3
2/23/2018 XM540-W270 13 1 Protocol Version Protocol Version RW 20 4 Homing Offset Home Position Offset RW 0 24 4 Moving Threshold Velocity Threshold for Movement Detection RW 10 31 1 Temperature Limit Maximum Internal Temperature Limit RW 80 32 2 Max Voltage Limit Maximum Voltage Limit RW 160 34 2 Min Voltage Limit Minimum Voltage Limit RW 95 36 2 PWM Limit Maximum PWM Limit RW 885 38 2 Current Limit Maximum Current Limit RW 2047 40 4 Acceleration Limit Max
PAGE 4
2/23/2018 XM540-W270 224 1 Indirect Data 1 Indirect Data 1 RW 0 225 1 Indirect Data 2 Indirect Data 2 RW 0 226 1 Indirect Data 3 Indirect Data 3 RW 0 … … … … … … 249 1 Indirect Data 26 Indirect Data 26 RW 0 250 1 Indirect Data 27 Indirect Data 27 RW 0 251 1 Indirect Data 28 Indirect Data 28 RW 0 578 2 Indirect Address 29 Indirect Address 29 RW 634 580 2 Indirect Address 30 Indirect Address 30 RW 635 582 2 Indirect Address 31 Indirect Address 31 RW
PAGE 5
2/23/2018 XM540-W270 For instance, if the Return Delay Time(9) is set to ‘10’, the Status Packet will be returned after 20[μsec] when the Instruction Packet is received.
PAGE 6
2/23/2018 XM540-W270 This mode is identical to the Joint Mode from existing Dynamixels. Operating position range is limited by Max Position Limit(48) and Min Position Limit(52). This mode is ideal for articulated robots that each joint rotates less than 360 degrees. Extended Position 4 Control Mode(Multi-turn) This mode controls position. This mode is identical to the Multi-Turn Mode from existing Dynamixels. 512 turns are supported(-256[rev] ~ 256[rev]).
PAGE 7
2/23/2018 XM540-W270 Values Description Unit about 0.229[RPM] All speed related Data uses the same unit Range 0 ~ 1,023 Temperature Limit (31) This value limits operating temperature. When the Present Temperature(146) that indicates internal temperature of Dynamixel is greater than the Temperature Limit(31), the Over Heating Error Bit(0x04) in the Hardware Error Status(70) will be set, and the Hardware Error Bit(0x80) will be transmitted in the Error field of the Status Packet.
PAGE 8
2/23/2018 XM540-W270 External Port Mode 1, 2, 3 (56, 57, 58) External ports that can be used for various purposes are provided. The property of each port is configured by the External Port Mode and data of external port is controlled by the External Port Data(152~157). For more details, please refer to External Port Data(152~157).
PAGE 9
2/23/2018 XM540-W270 Note : If the ID of Instruction Packet is set to Broad Cast ID(0xFE), Status Packet will not be returned for READ and WRITE Instructions regardless of Status Return Level(68). For more details, please refer to the Protocol section of e-Manual Registered Instruction (69) This value will be set to ‘1’ when Dynamixel receives REG_WRITE Instruction Packet and processing ACTION Instruction Packet will clear the value to ‘0’.
PAGE 10
2/23/2018 XM540-W270 Note1) : In case of PWM Control Mode, both PID controller and Feedforward controller are deactivated while Goal PWM(100) value is directly controlling the motor through an Inverter. In this manner, users can directly control the supplying voltage to the motor. Note2) : Ka is an Anti-windup Gain that cannot be modified by users. Below figure is a block diagram describing the current-based position controller in Current-based Position Control Mode.
PAGE 11
2/23/2018 XM540-W270 Goal PWM (100) In case of PWM Control Mode, both PID controller and Feedforward controller are deactivated while Goal PWM(100) value is directly controlling the motor through an Inverter. In other control modes, this value is used to limit PWM value. This value cannot exceed PWM Limit(36). Please refer to the Gain section in order to see how Goal PWM(100) affects to different control modes.
PAGE 12
2/23/2018 XM540-W270 VPRFL(112) = 0 Profile not used (Step Instruction) (VPRFL(112) ≠ 0) & (APRF(108) = 0) Rectangular Profile (VPRFL(112) ≠ 0) & (APRF(108) ≠ 0) & (VPRFL_TRI ≤ VPRFL(112)) Triangular Profile (VPRFL(112) ≠ 0) & (APRF(108) ≠ 0) & (VPRFL_TRI ＞ VPRFL(112)) Trapezoidal Profile ④ Selected Profile type is stored at Moving Status(123).(Refer to the Moving Status(123)) ⑤ Dynamixel is driven by the calculated target trajectory from Profile.
PAGE 13
2/23/2018 XM540-W270 This value indicates whether Dynamixel is in motion or not. If absolute value of Present Velocity(128) is greater than Moving Threshold(24), Moving(122) is set to '1'. Otherwise, it will be cleared to '0'. However, this value will always be set to '1' regardless of Present Velocity(128) while Profile is in progress with Goal Position(116) instruction.
PAGE 14
2/23/2018 XM540-W270 External Port Mode External Port Data Access Details Common - - 0(AI) Read 1(DO_PP) Write 2(DI_PU) 3 (DI_PD) Read External Port Electrical Characteristics 0 ~ 3.3[V], 0 ~ 5[mA] VESD(HBM) : 2[kV] Converts External Port signal to digital value Resolution : 12[bit] (0 ~ 4,095) External Data = signal x (4,095 / 3.3) 0 : Set External Port output to 0[V] Output High level(VOH) : 2.4 [V] (min) 1 : Set External Port output to 3.3[V] Output Low level(VOL) : 0.
PAGE 15
2/23/2018 XM540-W270 Caution for Dynamixel X-Series cable assembly through hollow case Organize the entangled cable before assembling the back case. Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error. http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm540-w270.
PAGE 16
2/23/2018 XM540-W270 Combination http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm540-w270.
PAGE 17
2/23/2018 XM540-W270 Drawings X-540.pdf X-540.dwg dummy_X540_std.stp dummy_X540_idle.stp Frame Compatibility Guide(LINK) http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm540-w270.