Printable Specifications (pdf)
General
- Overall length (from base) - 21.42"
- Overall length with gripper open - 17.5"
- Overall length with gripper closed - 19"
- Repeatability 2.5mm
- Each joint has a 300° range with 1024 steps (0.29°/step)
- 8-way adjustable base angles in 45° increments.
- Holding Torque: shoulder and wrist joints - 440 oz./in.
- Holding Torque: gripper and base 220 oz./in.
- Precision carbon steel ball bearing turntable
- Integrated pem nuts for quick and easy construction
- Super strong anodized 0.063 ga. 5052 brushed finished aluminum components
- Scratch resistant type II anodized in gun barrel gray
- 7 Dynamixel AX-12 servos (4 axis 1 gripper)
- Max current 6300mA
- Operating current 2-5A
- Operating voltage 7 to 10V / Ideal 9.6V
- Ideal power supply 9.6V / 5A
- Ideal battery configuration 9.6V / capacity 2500mAh (or higher)
Gripper
- Built in, adjustable camera with sensor mount
- Slotted gripper paddles for easy sensor attachment
- High resolution, 60 tooth, heavy duty, resin gear train
- Cross cut, high adhesion rubber
AX-12+ Servos
- 1,000,000 bps 1/2 duplex multi-drop serial bus.
- Programmable serial communication from 2400 to 1Mpbs
- Position, speed, load, voltage and temperature feedback
- 300 degree movement in 1024 increments
- Full control over speed and torque in 1024 increments
- Built in LED status indicator
- User configured automatic shutdown based on voltage, load or temperature
- Single cable network connection
- Programmable servo position range
| AX-12 |
Max |
Normal |
Min |
| Operating Voltage |
10.0V |
9.6V |
7.0V |
| Holding Torque |
228 oz-in
16.5kg.cm |
222 oz-in
16kg.cm |
165 oz-in
12.0kg.cm |
| Operating Torque |
148 oz-in
10.7 kg.cm |
144 oz-in
10.4 kg.cm |
107 oz-in
7.8 kg.cm |
| No-load Speed |
0.196sec/60° |
0.196sec/60° |
0.269sec/60° |
| NB. 360° Rotation Mode - 1024 selectable speeds (10bit resolution) |
| AX-12+ Specifications |
| Reduction Ratio |
1/254 |
| Operating Angle |
300° |
| Current (max) |
900mA |
| Operating Temp. |
-5°C ~ 85°C |
| Size |
50 x 32 x 38 mm |
| Weight |
55g |
| Command Signal |
Digital Packet |
| Protocol |
Half Duplex Async Serial (8bit, 1stop, No parity) |
| Link |
TTL (Tx & Rx multiplexed on single core) |
| Number of modules |
254 - valid addresses 0 to 253 |
| Comm Speed |
7343bps ~ 1Mbps |
| Position Feedback |
Yes |
| Temperature Feedback |
Yes |
| Load Voltage Feedback |
Yes |
| Input Voltage Feedback |
Yes |
| Compliance Driving settings |
Yes |
| Material |
Engineering Plastic Gears and Body |
| Motor |
Cored Motor |
AX12+ Smart Robotic Arm Specification Sheet