Dynamixel MX-106R servo motor

Servomotors signed Dynamixel

Dynamixel servomotors are integrated servomotors that include:

• A reducer
• A controller
• A driver

Dynamixel servomotors have a unique identifier and communicate via digital packets.

The main features of the Dynamixel range are:

• High position control accuracy (1024 divisions for AX, RX and EX models, 4096 for MX)
• Many functions of feedback on the various physical variables of the servomotor (current position, speed, voltage, internal temperature.
• A alert based on internal temperature, torque, or supply voltage, which is activated when these values exceed defined limits. The Dynamixel servomotor provides feedback and can automatically correct the situation.
• ” Compliance Guide ": control of the amount of spring force in position control.
• Setting the couple : The torque can be set to 1023 steps, from the maximum torque to the free rotation state.
• Operation low current/high voltage : Its efficiency is high as it operates at a higher voltage. The performance of the robotic system is also improved by its low current consumption.
• A Status LED Is used to display the status of Dynamixel.
• A mechanical assembly facilitated by the many compatible mechanical parts.
• A easy wiring In 'daisy chain'.

Dynamixel servomotor programming.

Servomotors must be connected to a controller ( CM-900 , CM-700 , CM-5 , CM-510 o CM-530 ) to be driven. The programs are made with RoboPlus, very easily and without requiring much prior knowledge.

Newer controllers support the embedded C language, and an SDK is available for developing your own applications.

The Dynamixel MX-106R Servomotor

Servomotors MX-106T and MX-106R are the new additions to Dynamixel's MX range. They replace and enhance the EX-106+ with a non-contact absolute position sensor with 12-bit accuracy (4096 positions), offer 360° (previously 251°) position control, continuous rotational speed control and current-based torque estimation.

In addition, the control is of the PID type ( proportional integral derivative ), the parameters of which can be changed on an engine-by-engine basis. Allowable values are between 0 and 255.

Two Dynamixel MX-106R servomotors can be used in 'dual mode,' where the slave servomotor exactly reproduces the movements of the master servomotor (or the reverse of the movements if the 'reverse' option is enabled).

The casing of the EX-106+ servomotor has also been slightly modified, so the MX-106R servomotor is not compatible with the HN05-N101/T101 drive.

The Dynamixel MX-106R servo motor supports RS485 communication protocol (while the MX-106T servo motor uses TTL communication) at high speed (3Mbs), so it is compatible with CM-700 controllers. Note that the recommended working voltage is no longer that of the EX-106+.

Technical specifications of the Dynamixel MX-106R servo motor

• MCU: ST CORTEX-M3 (ST32F103C8 @ 72MHZ, 32BIT)
• Engine: Maxon
• Position sensor: absolute non-contact encoder (12BIT, 360 degrees)
• Torque: 8.0N.m (at 11.1V, 4.8A), 8.4N.m (at 12V, 5.2A), 10.0N.m (at 14.8V, 6.3A)
• No-load speed: 41 rmp (11.1V), 45 rmp (12V), 55 rmp (14.8V)
• Resolution: 0.088° x 4.096
• Range of motion: 360°
• Control algorithm: PID
• Control: digital packet, baud rate: 8000 bps ~ 3 Mbps
• Protocol: asynchronous RS485 serial communication (8bit, 1stop, no parity)
• Connection (physical): RS485 Multi Drop Bus
• Weight: 153g
• Voltage: 10~14.8V (12V voltage is recommended)
• Gear ratio: 225 : 1
• ID: 254 ID (0~253)
• Feedback: position, temperature, load, input voltage, current, etc.
• Standby power consumption: 100 mA
• Dimensions: 40.2 mm x 61.1 mm x 46 mm (exact dimensions are available here )
• Material: metal gears, technical plastic housing

Servomotors are differentiated according to the type of communication (the MX series offers both types of communication).