MCU : ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT) POSITION SENSOR : Contactless absolute encoder (12BIT,360 DEGREE) Maker : ams (www.ams.com), Part No : AS5045 Motor : Maxon Baud Rate : 9600 bps ~ 4.5 Mbps Control Algorithm : PID CONTROL Degree of Precision : 0.088° Operating Modes (Voltage Control Mode) Weight : 82g Dimensions(W x H x D) : 28.5mm x 46.5mm x 34mm Gear Ratio : 353.5 : 1 Stall Torque 3.1N.m (at 11.1V, 1.2A) 3.4N.m (at 12.0V, 1.3A) 4.2N.m (at 14.8V, 1.5A) No load speed 27rpm (at 11.1V) 30rpm (at 12.0V) 37rpm (at 14.8V) Operating Temperature : -5℃ ~ +80℃ Input Voltage : 10 ~ 14.8V (Recommended : 12V) Command Signal : Digital Packet Protocol Type XH430-W350-T (Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity) XH430-W350-R (RS485 Asynchronous Serial Communication (8bit,1stop, No Parity) Link (Physical) XH430-W350-T (TTL Level Multi Drop Bus) XH430-W350-R (RS485 Multi Drop Bus) ID : 253 ID (0~252) Feedback : Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc. Material : Full Metal Gear, Metal Body(Front, Middle), Engineering Plastic Body(Bottom) Standby current : 40 mA
