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Specifications

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

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

Performance Graph

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

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

Control Table of EEPROM Area

Address	Size(Byte)	Data Name	Description	Access	Initial Value
0	2	Model Number	Model Number	R	310
2	1	Firmware Version	Firmware Version	R	-
3	1	ID	DYNAMIXEL ID	RW	1
4	1	Baud Rate	Communication Speed	RW	34
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	80
12	1	Min Voltage Limit	Minimum Input Voltage Limit	RW	60
13	1	Max Voltage Limit	Maximum Input Voltage Limit	RW	240
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	0
27	1	I Gain	Integral Gain	RW	0
28	1	P Gain	Proportional Gain	RW	32
30	2	Goal Position	Desired Position	RW	-
32	2	Moving Speed	Moving Speed(Moving Velocity)	RW	-
34	2	Torque Limit	Torque Limit	RW	Max Torque
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	0
50	2	Realtime Tick	Count Time in millisecond	R	0
68	2	Current	Consuming Current	RW	0
70	1	Torque Ctrl Mode Enable	Torque Control Mode On/Off	RW	0
71	2	Goal Torque	Goal Torque	RW	0
73	1	Goal Acceleration	Goal Acceleration	RW	0

Control Table Description

Model Number (0)

This address stores model number of DYNAMIXEL.

Firmware Version (2)

This address stores firmware version of DYNAMIXEL.

ID (3)

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

Baud Rate (4)

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

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_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 0.114rpm.
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 116.62rpm.
For example, if it is set to 300, it is about 34.2 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 0.114rpm.
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 %}

Is the current moving speed.
0 ~ 2,047 (0x000 ~ 0x7FF) can be used.
If a value is in the rage of 0 ~ 1,023 then the motor rotates to the CCW direction.
If a value is in the rage of 1,024 ~ 2,047 then the motor rotates to the CW direction.
The 10th bit becomes the direction bit to control the direction; 0 and 1,024 are equal.
The value unit is about 0.11rpm.
For example, if it is set to 300 then the motor is moving to the CCW direction at a rate of about 34.33rpm.

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 v40. {: .notice}

Current (68)

At an idle state without current flow, this value is 2,048(0x800).
When positive current flows, this value becomes larger than 2,048(0x800) while negative current flow returns a value smaller than 2,048(0x800).
The following is current flow calculation formula.

I = ( 4.5mA ) * (CURRENT – 2048 ) in amps unit (A).
For example, 68 gives a value of 2148, which corresponds to 450mA of current flow.

Torque Control Mode Enable (70)

Value	Meaning
0	Turn off the torque mode. Executes Joint mode or Wheel mode
1	Turn on the torque mode. Cannot control the position or moving speed but only Torque

When Torque Control Mode Enable is 1, DYNAMIXEL behaves like the followings

DYNAMIXEL does not control position or velocity.
DYNAMIXEL is controlled by the Goal Torque value.
DYNAMIXEL does not affected by the Goal Position(30), Moving Speed(32) values.
Since position/moving speed is not controlled, DYNAMIXEL behaves as if it is in the wheel mode.

Goal Torque (71)

You can use 0 ~ 2,047 (0x7FF) and the unit is 4.5mA (Torque is directly proportional to the current value).
If you use a value between 0 ~ 1,023, torque is applied to the CCW direction, and setting it to 0 will stops.
If you use a value between 1,024 ~ 2,047, torque is applied to the CW direction, and setting it to 1,024 will stops.
That means, 10th bit becomes the CW/CCW direction bit, which controls rotational direction.
Goal Torque cannot be bigger than Torque Limit(34,35).

Goal Acceleration (73)

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

How to Assemble

Optional Frames

FR05-B101
FR05-F101 and FR05-X101
FR05-H101
FR05-S101

Horns

HN05-I102
HN05-N101

Combination Structures

Maintenance

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

Gear Replacement

When gears inside DYNAMIXEL are damaged or worn out, replace the gears in DYNAMIXEL to maintain the good condition.

See the following video on how to replace the gears properly.

DYNAMIXEL Calibration

Calibrate the DYNAMIXEL after the gear replacement to arrange the gears in the right position.

See the following video on how to calibrate the DYNAMIXEL properly using software.

{% capture dynamixel_calibration %} NOTE:

As the USB2Dynamixel has been discontinued, a U2D2 is required to comunicate with DYNAMIXEL via PC using the software in the video.
Alternatively, you can calibrate the DYNAMIXEL (X / MX only) using the DYNAMIXEL Wizard 2.0 instead of using the R+ Manager 2.0 used in the video. {% endcapture %}

Reference

NOTE
Compatibility Guide{: .blank}
[Harness Compatibility]{: .popup} {: .notice}

Download MX-64AT_AR DWG{: .blank}
Download MX-64AT_AR PDF{: .blank}
Download MX-64AT_AR STEP{: .blank}
Download MX-64T DWG{: .blank}
Download MX-64T PDF{: .blank}
Download MX-64T STEP{: .blank}
Download MX-64T IGES{: .blank}
Download MX-64R DWG{: .blank}
Download MX-64R PDF{: .blank}
Download MX-64R STEP{: .blank}
Download MX-64R IGES{: .blank}

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

{% include en/dxl/485_ttl_connection.md %}

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

Files

mx-64.md

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mx-64.md

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Optional Frames

Horns

Combination Structures