Robotis Dynamixel DX-117 - Manual (Page 4)

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DYNAMIXEL DX-Series
Metal Gear All gears are made with metal to ensure durability.
Axis Bearing A bearing is used at the final axis to ensure no efficiency degradation with high
external loads on the output shaft.
Status LED The LED can indicate the error status to the user.
1-2. Main Specifications
DX-116 DX-117 DX-113
Weight(g) 66 66 58
Gear Reduction Ratio 142.5 192.6 192.6
Input Voltage 12 16 12 16 12
Final Max Holding Torque(kgf.cm) 21.38 28.50 28.89 38.52 10.20
Sec/60degree 0.127 0.095 0.172 0.129 0.150
Resolution 0.35°
Operating Angle 300°
Voltage DX116,117 : 12V~16V(Recommended voltage: 14.4V)
DX113 : 12V
Max. Current 1200mA
Operating Temp. -5 ~ +85 ℃ ℃
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity)
Link (Physical) RS 485 Multi Drop(daisy chain type Connector)
ID 254 ID (0~253)
Communication Speed 7343bps ~ 1 Mbps
Feedback Position, Temperature, Load, Input Voltage, etc.
Material Full Metal Gear, Engineering Plastic Body
Motor Swiss MAXON Motor (DX-116, DX-117). DX-113 uses a cored motor