Robotis Dynamixel DX-113 User Manual

 

 

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 The Dynamixel robot actuator is a smart, modular actuator that incorporates a gear 

reducer and a control circuitry with networking functionality, all in a single package. 

Despite its compact size, it can produce large torque and is made with special 

materials to provide the necessary strength and structural resilience to withstand 

large external forces. It also has the ability to detect and act upon internal 

conditions such as changes in internal temperature or supply voltage. There are 

three models (DX-113, DX-116, and DX-117) in the DX series of the Dynamixel 

robot actuator family and they have many advantages over similar products. 

Position and speed can be controlled with a resolution of 1024 steps. 

The degree of compliance can be adjusted and specified in controlling position.   

Feedback for angular position, angular velocity, and load torque are available.   

Alarm System 

 The Dynamixel series robot actuator can alert the user when parameters deviate 

from user defined ranges (e.g. internal temperature, torque, voltage, etc) and can 

also appropriately handle the problems by itself. 

Communication 

 Wiring is easy with daisy chain connection, and it support communication speeds 

up to 1M BPS.   

High-performance Motors  Models DX-116 and DX-117 use the RE-MAX Series Coreless DC Motors, which 

are the top of the line Swiss Maxon motors, allowing them to produce large output 

torques and high accelerations. 

The actuation schedule can be set with a single command packet, thus enabling 

the main processor to control many Dynamixel units even with very few resources. 

The main body of the unit is made with high quality engineering plastic which 

enables it to handle high torque loads.