Dynamixel MX-106R Robot Actuator
- Order number: ROBT-902-0066-000
- Manufacturer product ID: 902-0066-000
Features
- DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.
- MX-series is a new concept of DYNAMIXEL with advanced functions, such as precise control, PID control, 360 degree of position control, and high speed communication.
Advanced durability, degree of precision, and wider control zone were achieved thanks to the newly applied CONTACTLESS ABSOLUTE ENCODER
360 degrees POSITION CONTROL without dead zone
4,096 PRECISE RESOLUTION by 0.088 degrees
SPEED CONTROL at ENDLESS TURN MODE
Reliability and accuracy were advanced in the position control through PID CONTROL
High baud rate up to 4.5Mbps
Torque control via current sensing
Supports dual mode for master/slave method
Package Components
| MX-106R | 1 |
|---|---|
| HN05-N102 | 1 |
| Thrust Washer (for horn) | 1 |
| 4P Cable 200mm | 1 |
| 3P-Sync Cable 160mm | 1 |
| Wrench Bolt WB M2.5*4 | 16 |
| Wrench Bolt WB M3*8 | 1 |
| Nut M2.5 | 18 |
Compatible Products
Controller : CM-2+, CM-700, OpenCM9.04(+ OpenCM485 Expansion Board), OpenCR
Interface : USB2Dynamixel, U2D2
*NOT compatible with the HN05-N101 Set / T101 Set
Factory Default Settings
ID : 1
Baud Rate : 57600bps
(User can change various settings including ID and baud rate according to environment)
Specification
| Model Name | MX-106R | |
|---|---|---|
| MCU | Cortex-M3 (72 [Mhz], 32 [bit]) | |
| Input Voltage | Min. [V] | 10.0 |
| Recommended [V] | 12.0 | |
| Max. [V] | 14.8 | |
| Performance Characteristics | Voltage [V] | 12.0 |
| Stall Torque [N·m] | 8.40 | |
| Stall Current [A] | 5.2 | |
| No Load Speed [rpm] | 45.0 | |
| No Load Current [A] | 0.17 | |
| Continuous Operation | Voltage [V] | - |
| Torque [N·m] | - | |
| Speed [rpm] | - | |
| Current [A] | - | |
| Resolution | Resolution [deg/pulse] | 0.0879 |
| Step [pulse] | 4,096 | |
| Angle [degree] | 360 | |
| Position Sensor | Contactless absolute encoder (12 [bit], 360 [deg]) Maker : ams(www.ams.com), Part No : AS5045 | |
| Operating Temperature | Min. [°C] | -5 |
| Max. [°C] | 80 | |
| Motor | Coreless (Maxon) | |
| Baud Rate | Min. [bps] | 8,000 |
| Max. [bps] | 4,500,000 | |
| Control Algorithm | PID | |
| Gear Type | Spur | |
| Gear Material | Precious Metal | |
| Case Material | Precious Metal(Front) Engineering Plastic(Middle, Back) | |
| Dimensions (WⅹHⅹD) [mm] | 40.2 X 65.1 X 46.0 | |
| Dimensions (WⅹHⅹD) [inch] | 1.58 X 2.66 X 1.81 | |
| Weight [g] | 153.00 | |
| Weight [oz] | 5.40 | |
| Gear Ratio | 225 : 1 | |
| Command Signal | Digital Packet | |
| Protocol Type | Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity) | |
| Link (Physical) | RS485 Multi Drop Bus | |
| ID | 0 ~ 253 | |
| Feedback | Position, Velocity, Current, Load, Temperature, Voltage, etc. | |
| Protocol version | 1.0(Default) 2.0 | |
| Operating Mode / Angle | Wheel Mode：Endless turn Joint Mode：360 [deg] Multi-turn Mode：±28 [rev] | |
| Output [W] | - | |
| Standby Current [mA] | 100 | |
