• Dynamixel XL-320

This product should be used with the OpenCM9.04-A, OpenCM9.04-B and OpenCM9.04-C.


  • The DYNAMIXEL XL-320 is a robot smart actuator with a fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one small DC servo module.
  • The XL-320 has a high performance and precise control as compared to its compact size.
  • Uses TTL communication and can be daisy chained to help construct robots easily.
  • High reliability and accuracy for position control with PID control.
  • Built-in clutch for reduction gear protection to improve durability and safety.
  • There is a three color LED which can be programmed for display.
  • Used on the DARWIN-MINI


  • DYNAMIXEL XL-320 x 1pc
  • Cable - 3P 100mm (fits XL-320) x 1pc


Weight16.7 g
Dimension24mm x 36mm x 27mm
Gear Ratio238 : 1
Operation Voltage (V)7.4
Stall Torque (N.m)0.39
No Load Speed (RPM)114
MotorCored Motor
Minimum Control AngleAbout 0.29° x 1,024
Operating RangeActuator Mode : 300° Wheel Mode : Endless turn
Operating Voltage6~8.4V (Recommended voltage : 7.4V)
Operating Temperature-5° ~ 70°
Command SignalDigital Packet
ProtocolHalf duplex Asynchronous Serial Communication (8bit,1stop,No Parity)
Link (physical)TTL Level Multi Drop (daisy chain type connector)
ID253 ID (0~252)
Baud Rate7843bps ~ 1Mbps
Feedback FunctionsPosition, Temperature, Load, Input Voltage, etc.
MaterialCase : Engineering Plastic Gear : Engineering Plastic

 ** Stall torque is the maximum instantaneous and static torque **

 Stable motions are possible with robots designed for loads with 1/5 or less of the stall torque


  • ID : 1
  • Baud Rate : 1Mbps 
  • Default mode is in joint mode.
  • Please change the ID and baud rate according to your use after purchase.


  • DOES NOT support the similar 3P cable used in AX-series.
  • Has a similar shape and dimension as the OLLO Servo Motor (OSM-10), but it isNOT the same, so please check the drawings before your purchase (Different size, voltage, connector).
  • XL-320 uses the DYNAMIXEL 2.0 protocol. Please visit the e-Manual page first to check the usage.
  • Not compatible with CM-100 / 100A / CM-150 / CM-200


  • The XL-series mini TTL connector is required to connect to theOpenCM9.04 controllers ONLY.
  • AX-series 3P cable CANNOT be used.
  • Frame : OLLO Frame (6mm pitch between holes)


  • Exclusive Software [RoboPlus] : Download

  • OpenCM IDE : Download

  • C/C++, C#, Labview, MATLAB, Visual Basic, etc. : Download


[Controller Compatibility Table]


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Dynamixel XL-320

  • Kode Produk: 0302190014
  • Ketersediaan: Out Of Stock
  • Rp 325,000

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