Dynamixel MX-64AR Servomotor

Dynamixel Servomotors

Dynamixel Servomotors are integrated actuators that include:

• A reducer
• A controller
• A pilot

Dynamixel Servomotors have a unique identifier and communicate using digital packets.

The main features of the Dynamixel range are:

• A great position control accuracy (1024 divisions for AX, RX and EX models, 4096 for MX).
• Many feedback functions On the various physical variables of the servomotor (current position, speed, voltage, internal temperature, etc.).
• 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.
• ” Compliant guide ": controls the amount of spring force in position control.
• Stabilizes the couple The torque can be stabilized in 1023 steps from the maximum torque to the free rotation state.
• Operation low current/high voltage Its efficiency is high because it operates at a higher voltage. The performance of your robotic system also improves because of its low current consumption.
• A Status LED Is used to display the status of Dynamixel.
• A mechanical group made easy by the many compatible mechanical parts.
• A easy wiring via 'daisy chain'.

Dynamixel servomotor programming.

Servomotors must be connected to a controller ( CM-900 , . CM-700 , CM-5 , CM-510 , . CM-530 or CM-9.04 ) to be controlled. The programs are implemented 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-64AR Servomotor

Servomotors MX-28AR and MX-64AR are the new additions to Dynamixel's MX range. They replace and enhance the servo motor RX-64 with a non-contact absolute position sensor with 12-bit accuracy (4096 positions), offer 360° position control (previously 251°), 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 , so PID coefficients are calculated according to the formulas.

The Dynamixel RX-64 servomotor housing has also been slightly modified, so the Dynamixel MX-64R servomotor is not compatible with the HN05-N101/T101 disk.

The Dynamixel MX-64AR servomotor supports RS485 communication protocol (while the MX-64T servomotor uses TTL communication) at high speed (3Mbs), so it is compatible with CM-2+, CM-700, OpenCM9.04 controllers. Please note that the recommended working voltage is no longer the same as the RX-64 model.

Technical characteristics of the Dynamixel MX-64AR servo motor.

• MCU: ST CORTEX-M3 (ST32F103C8 @ 72MHZ, 32BIT)
• Engine: Maxon
• Position sensor: Absolute non-contact encoder (12BIT, 360 degrees)
• Stall torque: 5.5Nm (at 11.1V, 3.9A), 6.0Nm (at 12V, 4.1A), 7.3Nm (at 14.8V, 5.2A)
• No-load speed: 58 rmp (11.1V), 63 rmp (12V), 78 rmp (14.8V)
• Control algorithm: PID
• Command: digital packet, baud rate: 8000 bps ~ 3 Mbps
• Protocol: asynchronous half-duplex serial communication (8 bits, 1 stop, no parity).
• Connection (physical): Multiple drop bus at TTL level
• Weight: 126g
• Voltage: 10~14.8V (12V voltage is recommended)
• Transmission ratio: 200 : 1
• ID : 254 ID (0~253)
• Feedback: position, temperature, load, input voltage, current, etc.
• Standby power consumption: 100 mA
• Dimensions: 40.2mm x 61.1mm x 41mm (exact dimensions are available here )
• Material: metal gears, engineering plastic housing.