XW540-T140-R

■Features
DYNAMIXEL XW series are ROBOTIS'first line of IP Level models, featuring a certified IP68(1m, 24hr)rating and are designed for use in wet environments, underwater, and any outdoor applications where a sealed servo is necessary.
 * XW series come with separate waterproof cable and extension cable.

1. 6 Operating Modes
 Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control
2. Profile Control for Smooth Motion Planning
3. Improved Heat Sink Featuring an Aluminum Case
4. Direct Screw Assembly to the Case (without Nut Insert)
5. Energy Saving (Reduced Current from 100mA to 40mA)
6. 28.4% reduced volume compared to the MX-106


■Components

XW540-T140-R	1
HN13-N105	1
Robot cable-WP 1000mm	1
Robot cable-WP 1000mm(Extension) (Molex - JST)	1
Wrench bolt(M2.5×5)	16
Wrench bolt(M2.5×4)	10
Wrench bolt(M3×10)	1

■Specification

Model	XW540-T140-R
Weight	185g
Dimension	33.5mm x 58.5mm x 45.9mm
Gear Ratio	145.6 : 1
MCU	ST Cortex-M3 ( STM32F103C8 @ 72MHZ,32Bit)
Position Sensor	Contactless absolute encoder (12bit,360°)
Motor	Coreless
Resolution	約 0.088[deg/pulse] x 4,096[step/pulse]
Input Voltage	10～14.8V (Recommended：12V)
Operating Temperature	-5°C～80°C
Command Signal	Digital Packet
Protcol Type	Half duplex Asynchronous Serial Communication（8bit, 1stop, No Parity）
Link (Physical)	RS485 Multi Drop Bus
ID	0～252
Baud Rate	9600 bps ～ 4.5 Mbps
Feedback	Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc.
Current	40 mA

■Factory Default Settings
ID : 1
Baud Rate : 57600bps
 (User can change various settings including ID and baud rate according to environment)

Causion!!
DYNAMIXEL XW series use a waterproof cable.
One side has a waterproof connector and the other side has a JST connector.
Extension cable has waterproof connectors for both sides.

The OpenCR controller has a JST connector for direct connection, but since the OpenCM9.04 + OpenCM 485 expansion board only has a Molex connector, a conversion cable must be used by utilizing U2D2 PHB.