Dynamixel MX-64R Servomotor

Dynamixel Servomotors

Introducing the Dynamixel range

Key features of Dynamixel servomotors

Dynamixel servomotors are integrated actuators that include:

• A change .
• A controller .
• A pilot

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

The main features of the Dynamixel range are:

• A great precise position control . (1024 divisions for AX, RX and EX models, 4096 for MX models) .
• Many feedback features on the different 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 ":Controls the amount of spring force in position control.
• Establishment of couple : Torque can be set to 1023 steps from maximum torque to free rotation.
• Operation low current/high voltage : High efficiency because it operates at a higher voltage. The performance of the robotic system is also improved by the low current consumption.
• A Status LED Is used to display the status of Dynamixel.
• A mechanical assembly facilitated by the large number of compatible mechanical parts.
• A simple wiring in the 'daisy chain'

Dynamixel servomotor programming.

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

Newer controllers support the embedded C language, and a Software Development Kit-SDK is available for developing custom applications.

Dynamixel MX-64R Servomotor

Servomotors MX-64T and MX-64R are the new additions to the Dynamixel MX range. They replace and enhance the servo motor RX-64 with a non-contact absolute position sensor with 12-bit accuracy (4096 positions), provide 360° (previously 251°) position control, continuous speed control and current-based torque estimation.

In addition, the control is a PID ( 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 following 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.

Modifications to Dynamixel's MX-64R servo motor housing.

The Dynamixel MX-64R servo motor supports the RS485 communication protocol (while the MX-64T servo motor uses TTL communication) at high speed (3Mbs), so it is compatible with CM-700 controllers. Note that the recommended operating voltage is no longer the same as that of the RX-64.

Technical specifications of the Dynamixel MX-64R servo motor

• MCU: ST CORTEX-M3 (ST32F103C8 @ 72MHZ, 32BIT)
• Engine : Maxon
• Position sensor: Absolute non-contact encoder (12BIT, 360 degrees)
• Stall torque: 5.5N.m (at 11.1V, 3.9A), 6.0N.m (at 12V, 4.1A), 7.3N.m (at 14.8V, 5.2A)
• No-load speed: 58 gpm (11.1 V), 63 gpm (12 V), 78 gpm (14.8 V)
• Resolution: 0.088° x 4.096
• Range of motion : 360°
• Control algorithm : PID
• Control: digital packet, transmission speed : 8000 bps ~ 3 Mbps
• Protocol : RS485 asynchronous serial communication (8 bits, 1 stop, no parity)
• Connection (physical) : RS485 Multi Drop Bus
• Weight : 126 g
• Voltage : 10 ~ 14.8 V (recommended at 12 V)
• Transmission ratio : 200:1
• 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 41 mm (exact dimensions are available upon request here )
• Material: metal gears, engineering plastic housing.