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Specifications

Item	Specifications
Motor	BLDC(Maxon)
Baud Rate	9,600 [bps] ~ 10.5 [Mbps]
Operating Modes	Torque Control Mode Velocity Control Mode Position Control Mode Extended Position Control Mode PWM Control Mode(Voltage Control Mode)
weight	853 [g]
Dimensions (W x H x D)	54 x 126 x 54 [mm]
Resolution	502,834 [pulse/rev]
Gear Ratio	251.4 : 1
Backlash	3.8 [arcmin], 0.06 [°]
No Load Speed	33.1 [rev/min]
No Load Current	1.25 [A]
Continuous Speed	28.3 [rev/min]
Continuous Torque	10.1 [Nm]
Continuous Current	3.0 [A]
Output	60 [W]
Operating Temperature	5 ~ 55 [°C]
Operating Voltage	24 [V]
Command Signal	Digital Packet
Protocol Type	RS485 Asynchronous Serial Communication (8bit, 1stop, No Parity)
Physical Connection	RS485 Multidrop Bus
ID	0 ~ 252

{% include en/dxl/warning.md %}

Performance Graph

Show Enlarged Graph{: .popup}

{% include en/dxl/note_performance_graph.md %}

{% include en/dxl/pro_plus/control_table.md %}

Control Table of EEPROM Area

Address	Size (Byte)	Data Name	Access	Default Value	Range	Unit
0	2	Model Number	R	46,353	-	-
2	4	Model Information	R	-	-	-
6	1	Firmware Version	R	-	-	-
7	1	ID	RW	1	0 ~ 252	-
8	1	Baud Rate	RW	1	0 ~ 9	-
9	1	Return Delay Time	RW	250	0 ~ 255	2 [μsec]
10	1	Drive Mode	RW	0	0 ~ 1	-
11	1	Operating Mode	RW	3	0, 1, 3, 4, 16	-
12	1	Sencondary ID	RW	255	0 ~ 255	-
20	4	Homing Offset	RW	0	-2,147,483,648 ~ 2,147,483,647	1 [pulse]
24	4	Moving Threshold	RW	50	0 ~ 2,830	0.01 [rev/min]
31	1	Temperature Limit	RW	80	0 ~ 100	1 [°C]
32	2	Max Voltage Limit	RW	350	0 ~ 350	0.1 [V]
34	2	Min Voltage Limit	RW	150	0 ~ 350	0.1 [V]
36	2	PWM Limit	RW	2,009	0 ~ 2,009	-
38	2	Current Limit	RW	7,980	0 ~ 7,980	1 [mA]
40	4	Acceleration Limit	RW	11,145	0 ~ 4,457,932	1 [rev/min²]
44	4	Velocity Limit	RW	2,830	0 ~ 2,830	0.01 [rev/min]
48	4	Max Position Limit	RW	251,173	-251,417 ~ 251,417	1 [pulse]
52	4	Min Position Limit	RW	-251,173	-251,417 ~ 241,417	1 [pulse]
56	1	External Port Mode 1	RW	3	0 ~ 3	-
57	1	External Port Mode 2	RW	3	0 ~ 3	-
58	1	External Port Mode 3	RW	3	0 ~ 3	-
59	1	External Port Mode 4	RW	3	0 ~ 3	-
63	1	Shutdown	RW	52	0 ~ 255	-
168	2	Indirect Address 1	RW	634	512 ~ 1,023	-
170	2	Indirect Address 2	RW	635	512 ~ 1,023	-
172	2	Indirect Address 3	RW	636	512 ~ 1,023	-
...	...	...	...	...	...	...
422	2	Indirect Address 128	RW	761	512 ~ 1,023	-

Control Table of RAM Area

Address	Size (Byte)	Data Name	Access	Default Value	Range	Unit
512	1	Torque Enable	RW	0	0 ~ 1	-
513	1	LED Red	RW	0	0 ~ 255	-
514	1	LED Green	RW	0	0 ~ 255	-
515	1	LED Blue	RW	0	0 ~ 255	-
516	1	Status Return Level	RW	2	0 ~ 2	-
517	1	Registered Instruction	R	0	-	-
518	1	Hardware Error Status	R	0	-	-
524	2	Velocity I Gain	RW	-	0 ~ 32,767	-
526	2	Velocity P Gain	RW	-	0 ~ 32,767	-
528	2	Position D Gain	RW	-	0 ~ 32,767	-
532	2	Position P Gain	RW	-	0 ~ 32,767	-
530	2	Position I Gain	RW	-	0 ~ 32,767	-
536	2	Feedforward 2nd Gain	RW	-	0 ~ 32,767	-
538	2	Feedforward 1st Gain	RW	-	0 ~ 32,767	-
546	1	Bus Watchdog	RW	-	0 ~ 127	20 [msec]
548	2	Goal PWM	RW	-	-PWM Limit(36) ~ PWM Limit(36)	-
550	2	Goal Current	RW	0	-Current Limit(38) ~ Current Limit(38)	1 [mA]
552	4	Goal Velocity	RW	0	-Velocity Limit(44) ~ Velocity Limit(44)	0.01 [rev/min]
556	4	Profile Acceleration	RW	0	0 ~ Acceleration Limit(40)	1 [rev/min²]
560	4	Profile Velocity	RW	0	0 ~ Velocity Limit(44)	0.01 [rev/min]
564	4	Goal Position	RW	-	Min Position Limit(52) ~ Max Position Limit(48)	1[pulse]
568	2	Realtime Tick	R	-	0 ~ 32,767	1 [msec]
570	1	Moving	R	-	-	-
571	1	Moving Status	R	-	-	-
572	2	Present PWM	R	-	-	-
574	2	Present Current	R	-	-	1 [mA]
576	4	Present Velocity	R	-	-	0.01 [rev/min]
580	4	Present Position	R	-	-	1 [pulse]
584	4	Velocity Trajectory	R	-	-	0.01 [rev/min]
588	4	Position Trajectory	R	-	-	1 [pulse]
592	2	Present Input Voltage	R	-	-	0.1 [V]
594	1	Present Temperature	R	-	-	1 [°C]
600	2	External Port Data 1	R/RW	0	0 ~ 4,095	-
602	2	External Port Data 2	R/RW	0	0 ~ 4,095	-
604	2	External Port Data 3	R/RW	0	0 ~ 4,095	-
606	2	External Port Data 4	R/RW	0	0 ~ 4,095	-
634	1	Indirect Data 1	RW	0	0 ~ 255	-
635	1	Indirect Data 2	RW	0	0 ~ 255	-
636	1	Indirect Data 3	RW	0	0 ~ 255	-
...	...	...	...	...	...	...
761	1	Indirect Data 128	RW	0	0 ~ 255	-

Control Table Description

CAUTION : Data in the EEPROM Area can only be written when the value of [Torque Enable(512)] is cleared to 0. {: .notice--warning}

NOTE : Dynamixel PRO(A) stands for the Advanced firmware of Dynmaxiel PRO. Please be aware of the changes of Control Table such as Addresses and additional features. {: .notice}

Model Number(0)

This address stores model number of the device.

Model Name	Model Number
M54-60-S250-R(A)	46,353 (0xB511)

Firmware Version(6)

{% include en/dxl/pro_plus/control_table_6_firmware_version.md %}

ID(7)

{% include en/dxl/pro_plus/control_table_7_id.md %}

Baud Rate(8)

{% include en/dxl/pro_plus/control_table_8_baud_rate.md %}

Return Delay Time(9)

{% include en/dxl/pro_plus/control_table_9_return_delay_time.md %}

Drive Mode(10)

{% include en/dxl/pro_plus/control_table_10_drive_mode.md %}

Operating Mode(11)

{% include en/dxl/pro_plus/control_table_11_operating_mode.md %}

Secondary ID(12)

{% include en/dxl/pro_plus/control_table_12_secondary_id.md %}

Homing Offset(20)

{% include en/dxl/pro_plus/control_table_20_homing_offset.md %}

{% capture homing_offset %}
NOTE :
In Position Control Mode(Joint Mode), Homing Offset(13) value that exceeds (-90 ~ 90 [°]) will be ignored.

{% endcapture %}

Moving Threshold(24)

{% include en/dxl/pro_plus/control_table_24_moving_threshold.md %}

Unit	Value Range
0.01 [rev/min]	0 ~ 2,830

Temperature Limit(31)

{% include en/dxl/pro_plus/control_table_31_temperature_limit.md %}

Max/Min Voltage Limit(32, 34)

{% include en/dxl/pro_plus/control_table_32_voltage_limit.md %}

PWM Limit(36)

{% include en/dxl/pro_plus/control_table_36_pwm_limit.md %}

This value indicates the maximum current(torque) output limit.
Goal Current(550) cannot be configured with any values exceeding Current Limit(38). Attempting to write an invalid value will fail and set the Limit Error Bit in the error field of the Status Packet.

Unit	Value Range
1 [mA]	0 ~ 7,980

Acceleration Limit(40)

This value indicates the maximum acceleration limit.
Profile Acceleration(556) cannot be configured with any values exceeding Acceleration Limit(40). Attempting to write an invalid value will fail and set the Limit Error Bit in the error field of the Status Packet.

Unit	Value Range
1 [rev/min²]	0 ~ 4,457,932

Velocity Limit(44)

This value indicates maximum velocity of Goal Velocity(552) and Profile Velocity(562). Goal Velocity(552) and Profile Velocity(562) cannot be configured with any values exceeding Velocity Limit(44). Attempting to write an invalid value will fail and set the Limit Error Bit in the error field of the Status Packet.

Unit	Value Range
0.01 [rev/min]	0 ~ 2,830

Max/Min Position Limit(48, 52)

These values limit maximum and minimum positions for Position Control Mode within the range of 1 rotation(-251,417 ~ 251,417). Therefore, Goal Position(564) should not exceed the limit range. Attempting to write an invalid value will fail and set the Limit Error Bit in the error field of the Status Packet.