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MX-12W
mx-12w

MX-12W

Specifications

Item Specifications
Baud Rate 8000 bps ~ 4.5 Mbps
Resolution 0.088°
Running Degree 0° ~ 360°
Endless Turn
Weight 54.6g
Dimensions (W x H x D) 32mm x 50mm x 40mm
Gear Ratio 32 : 1
No Load Speed 470rpm (at 12V)
Operating Temperature -5°C ~ +70°C
Input Voltage 10 ~ 14.8V (Recommended : 12V)
Standby Current 60mA
Command Signal Digital Packet
Protocol Type Half Duplex Asynchronous Serial Communication
(8bit, 1stop, No Parity)
Physical Connection TTL Level Multidrop Bus(Daisy Chain Type Connector)
ID 0 ~ 253
Feedback Position, Temperature, Load, Input Voltage, etc
Material Engineering Plastic

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

{% include en/dxl/control_table_protocol1.md %}

Control Table of EEPROM Area

Address Size
(Byte)
Data Name Description Access Initial
Value
0 2 Model Number Model Number R 104
2 1 Firmware Version Firmware Version R -
3 1 ID DYNAMIXEL ID RW 1
4 1 Baud Rate Communication Speed RW 1
5 1 Return Delay Time Response Delay Time RW 250
6 2 CW Angle Limit Clockwise Angle Limit RW 0
8 2 CCW Angle Limit Counter-Clockwise Angle Limit RW 4,095
11 1 Temperature Limit Maximum Internal Temperature Limit RW 70
12 1 Min Voltage Limit Minimum Input Voltage Limit RW 60
13 1 Max Voltage Limit Maximum Input Voltage Limit RW 160
14 2 Max Torque Maximun Torque RW 1023
16 1 Status Return Level Select Types of Status Return RW 2
17 1 Alarm LED LED for Alarm RW 36
18 1 Shutdown Shutdown Error Information RW 36
20 2 Multi Turn Offset Adjust Position with Offset RW 0
22 1 Resolution Divider Divider for Position Resolution RW 1

Control Table of RAM Area

Address Size
(Byte)
Data Name Description Access Initial
Value
24 1 Torque Enable Motor Torque On/Off RW 0
25 1 LED Status LED On/Off RW 0
26 1 D Gain Derivative Gain RW 8
27 1 I Gain Integral Gain RW 0
28 1 P Gain Proportional Gain RW 8
30 2 Goal Position Desired Position RW -
32 2 Moving Speed Moving Speed(Moving Velocity) RW -
34 2 Torque Limit Torque Limit(Goal Torque) RW ADD 14&15
36 2 Present Position Present Position R -
38 2 Present Speed Present Speed R -
40 2 Present Load Present Load R -
42 1 Present Voltage Present Voltage R -
43 1 Present Temperature Present Temperature R -
44 1 Registered If Instruction is registered R 0
46 1 Moving Movement Status R 0
47 1 Lock Locking EEPROM RW 0
48 2 Punch Minimum Current Threshold RW 32
50 2 Realtime Tick Count Time in millisecond R 0
73 1 Goal Acceleration Goal Acceleration RW 0

Control Table Description

Model Number (0)

This address stores model number of the DYNAMIXEL.

Firmware Version (2)

This address stores firmware version of the DYNAMIXEL.

ID (3)

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

Baud Rate (4)

Baud Rate determines serial communication speed between a controller and DYNAMIXELs.

Value Baud Rate(bps) Margin of Error
1(Default) 1M 0.000%
3 500,000 0.000%
4 400,000 0.000%
7 250,000 0.000%
9 200,000 0.000%
16 115200 -2.124%
34 57600 0.794%
103 19200 -0.160%
207 9600 -0.160%

NOTE : Less than 3% of the baud rate error margin will not affect to UART communication. {: .notice}

For BPS over 250 values :

Value Baud Rate Margin of Error
250 2,250,000 0.000%
251 2,500,000 0.000%
252 3,000,000 0.000%

Return Delay Time (5)

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

CW/CCW Angle Limit(6, 8)

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

Temperature Limit (11)

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

Min/Max Voltage Limit (12, 13)

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

Max Torque (14)

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

Status Return Level (16)

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

Alarm LED(17), Shutdown(18)

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

Multi Turn Offset (20)

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

Resolution Divider (22)

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

Torque Enable (24)

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

LED (25)

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

PID Gains (26, 27, 28)

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

Goal Position (30)

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

Moving Speed (32)

  • Join Mode, Multi-Turn mode It is a moving speed to Goal Position. 0~1023 (0X3FF) can be used, and the unit is about 0.916rpm. If it is set to 0, it means the maximum rpm of the motor is used without controlling the speed. If it is 1023, it is about 937.1rpm. For example, if it is set to 300, it is about 274.8 rpm. However, the rpm will not exceed the No Load Speed.

  • Wheel Mode It is a moving speed to Goal direction. 02047 (0X7FF) can be used, and the unit is about 0.916rpm. If a value in the range of 01023 is used, it is stopped by setting to 0 while rotating to CCW direction. If a value in the range of 1024~2047 is used, it is stopped by setting to 1024 while rotating to CW direction. That is, the 10th bit becomes the direction bit to control the direction.

    NOTE : Wheel mode allows to check max rpm. Any values higher than max rpm will not take effect. {: .notice}

Torque Limit (34)

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

Present Position (36)

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

Present Speed (38)

Is the current moving speed. 02047 (0x000 ~ 0x7FF) can be used. If a value is in the rage of 01023 then the motor rotates to the CCW direction. If a value is in the rage of 1024~2047 then the motor rotates to the CW direction. The 10th bit becomes the direction bit to control the direction; 0 and 1024 are equal. The value unit is about 0.916rpm. For example, if it is set to 300 then the motor is moving to the CCW direction at a rate of about 274.8rpm.

Present Load (40)

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

Present Voltage (42)

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

Present Temperature (43)

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

Registered Instruction (44)

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

Moving (46)

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

Lock (47)

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

Punch (48)

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

Realtime-Tick (50)

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

NOTE : This feature is available from Firmware v41. {: .notice}

Goal Acceleration (73)

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

Maintenance

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

Reference

NOTE : Compatibility Guide {: .notice}

Videos

<iframe width="560" height="315" src="https://www.youtube.com/embed/Tw4GfqUpzNA" frameborder="0" allowfullscreen></iframe>

Connector Information

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

Drawings

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