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Dynamixel EX-106+ Actuator

Robotis | A-000000-00526
The EX-106 + is the actuator by far the most powerful of the Dynamixel range, particularly regarding the torque.
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The Dynamixel servomotors

Dynamixel Servomotors main features
  • All-around assembling structure: you can make robots of various forms as using different option frames.
  • Powerful feedback : It can read current position of Dynamixel or speed as well as various information such as internal temperature, supply voltage, target position.
  • Simple connection structure: Wiring is simple because it is linked by Daisy Chain.
  • Alarm function: When internal temperature, torque, supply voltage etc. escaped appointed range, it gives feedback about that situation. Also in such emergency situation, it flash LED or be Torque off.
  • Compliance configuration: It can configure the compliance to control the position.
  • Torque set up : Torque can be set up by 1023 steps from maximum Torque to free run state.
  • Low-electric current/high voltagedrive : Its efficiency is high because it runs by high voltage and it improves stability of robot system that is formed by Dynamixel because current consumption is low.
  • Status LED : It has LED that can check state of the Dynamixel.
  • Drive by network: Dynamixels have unique ID and are controlled by Packet communication on a bus. It supports network of TTL, RS 485, and CAN etc. according to model.

Dynamixel actuators are controlled by Packet communication

This video illustrates the capabilities and the existing application for Dynamixel servomotors:

Programming the Dynamixel servomotors

The servomotors have to be linked to a main controller (CM-700, CM-5, CM-510 or CM-530) to be commanded. The progams are made with RoboPlus, which allow really easy programmation, without much previous knowledge.

The most recent main controllers support embedded C and there is a SDK for you to developp your own applications.

The Dynamixel EX-106+ actuator

The actuator EX-106 + is the actuator need for your robots where some power is needed, more than speed. The EX-106 + distinguishes itself by a high torque capacity compared to other actuators of the Dynamixel range. The MX-106R and MX-106T are the adaptations of the EX-106+ servomotor for the MX range.

Technical specifications of the Dynamixel EX-106+ actuator

  • Weight : 154g
  • Dimension : 40.2mm x 65.1mm x 46mm
  • Resolution : 0.06°
  • Gear Reduction Ratio : 184:1
  • Stall Torque : 10.91N.m (at 18.5V 7A)
  • No load speed : 91rpm (at 18.5V)
  • Running Degree
    • 0° ~ 251°
    • Endless Turn
  • Running Temperature : -5℃ ~ +80℃
  • Voltage : 12 ~ 18.5V (Recommended Voltage 14.8V)
  • Command Signal : Digital Packet
  • Protocol Type : RS485 Asynchronous Serial Communication (8bit,1stop, No Parity)
  • Link (Physical) : RS485 Multi Drop Bus
  • ID : 254 ID (0~253)
  • Communication Speed : 7343bps ~ 1 Mbps
  • Feedback : Position, Temperature, Load, Input Voltage, etc.
  • Material : Full Metal Gear, Aluminium Front Case, Engineering Plastic Body
  • Standby current : 55 mA

Technical documentation of the Dynamixel EX-106+ actuator

Dimensions of the Dynamixel EX-106+ actuator
Dimensions of the Dynamixel EX-106+ actuator
Technical documentation of the Dynamixel EX-106+ actuator
Technical specifications of the Dynamixel EX-106+ actuator

Comparing the various Dynamixel actuators

This document offers an overview on the characteristics of all the Dynamixel servomotors.

Comparison table between all Dynamixel servomotors robotis
Comparison between all Dynamixel servomotors

The chart below compare the Dynamixel actuators on their performance. Servomotors are differentiated by communication type (and the MX range proposes both protocols).

comparison torque / speed for Dynamixel servomotors robotis

 

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