Data Sheet

9
1.5 Specification
i) H Series Robotis Manipulator Specification
Item
description
DOF
6 DOF
Payload
3kg
Operating voltage
24V
Resolution
Joint 1
- (rad) ~ (rad) → -251000 ~ 251000 (pulse)
Joint 2
- (rad) ~ (rad) → -251000 ~ 251000 (pulse)
Joint 3
- (rad) ~ (rad) → -251000 ~ 251000 (pulse)
Joint 4
- (rad) ~ (rad) → -251000 ~ 251000 (pulse)
Joint 5
- (rad) ~ (rad) → -151875 ~ 151875 (pulse)
Joint 6
- (rad) ~ (rad) → -151875 ~ 151875 (pulse)
Dynamixel Pro
Model Name
Joint 1
H54 - 200 - S500 - R
Joint 2
Joint 3
H54 - 100 - S500 - R
Joint 4
Joint 5
H42 - 20 - S300 - R
Joint 6
Operating
Range
Joint 1
- (rad) ~ (rad)
Joint 2
- /2(rad) ~ /2(rad)
Joint 3
- /2(rad) ~ 3 /4(rad)
Joint 4
- (rad) ~ (rad)
Joint 5
- /2(rad) ~ /2(rad)
Joint 6
- (rad) ~ (rad)
Default ID
Joint 1 (ID:1), Joint 2 (ID:2), Joint 3 (ID:3)
Joint 4 (ID:4), Joint 5 (ID:5), Joint 6 (ID:6)
Motor type
Brushless DC Servo(H54 Series)
/ Coreless DC Motor(H42 Series)
Position sensor type
Absolute Encoder(for Homing)
& Incremental Encoder(for Control)
communications
RS485