The HerkuleX DRS-0101 Robot Servo is a state of the art modular smart servos incorporating motor, gear reducer, control circuitry and communications capability in one single package, capable of detecting and responding to internal changes in temperature and voltage supply. Once it receives a movement command, it automatically creates a trapezoidal type speed profile like the diagram below to control the position. With the servo operating according to the acceleration/deceleration profile, it suppresses vibrations caused by the sudden acceleration and deceleration and increases the energy efficiency. ------------------------------------ Specifications Mechanical specification Carbon Brush Cored DC Motor A lot of adapting pieces Rotation angle range: 320° Continuous Rotation Resolution: 0.325° Stall torque: 12kg.cm （7.4v） Maximum Speed: 0.166s/60° (7.4v) Gear: 1:266, Super Engineering Plastic Size: 45mm(W) x 24.0mm(D) x 31mm(H) Weight: 45g Electrical specification Working Voltage: 7~9VDC(Optimized 7.4V) Rated Current: 450mA @ 7.4V : 1.7kgf.cm Communication Link: Full Duplex Asynchronous Serial(TTL Level), Binary Packet, Multi Drop Multi control through Servo ID: 0 ~ 253, 254(Broadcast only) Maximum Baud Rate: 0.67Mbps Feedback: Position, Speed, Temperature, Load, Voltage etc. Various Control Algorithm: PID, Feedforward, Trapezoidal Velocity Profile, Velocity Override, Torque Saturator & Offset, Overload Protection, Neutral Calibration, Dead Zone ------------------------------------ Dimensions Size: 45mm(W) x 24mm(D) x 31mm(H) Weight: 45g
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