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    Software Features

    Hardware Features

    The ViperX Dual XM540 Robot Turret is a fully programmable pan and tilt system designed around the DYNAMIXEL XM540-W270 servos from Robotis. The servos offer a high resolution of 4096 positions and user definable PID parameters. Temperature monitoring, positional feedback as well as voltage levels, load and compliance settings are all user accessible as well. The ViperX Dual XM540 Turret comes with the DYNAMIXEL U2D2 for ROS control and the CM9.04c for Serial Firmware control.

    Please note: The ViperX Dual XM540 Turret will not hold position if power to the unit is lost, any equipment mounted may be damaged if not properly secured. Please use caution when mounting equipment that may be fragile or prone to damage if the turret loses power.



      ROS packages for Melodic & Noetic on Ubuntu Linux make it easy to get started with the ViperX Pan & Tilt. Packages include full meshes and URDFs, driver node that controls the physical robot and publishes joint states as well as gazebo and moveit support. Examples are also included to show users how the core packages work.

      IRROS allows the lower-level actuator ROS wrappers to be easily integrated into higher-level code, we have developed an intuitive approach called the Interbotix Research Robotics Open Standard (IRROS). To learn more about IRROS click here.

      MoveIt is the most widely used software for manipulation and has been used on over 150 robots. It is released under the terms of the BSD license, and thus free for industrial, commercial, and research use.

      By incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation, MoveIt is state of the art software for mobile manipulation.

      Robot simulation is an essential tool in every roboticist's toolbox. A well-designed simulator makes it possible to rapidly test algorithms, design robots, perform regression testing, and train AI system using realistic scenarios. Gazebo offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments. At your fingertips is a robust physics engine, high-quality graphics, and convenient programmatic and graphical interfaces. Best of all, Gazebo is free with a vibrant community.


      Dynamixel Servos - The DYNAMIXEL X-Series smart servos offer features that would normally only be found on industrial level motors for a fraction of the price.

      Trajectory Smoothing - Smart servos have multiple registers for setting velocity & acceleration limits, PID gains, and more for fine tuning smooth joint motions.

      Low Level Libraries Provided - DYNAMIXEL servos have libraries that abstract away the serial communication layer allowing developers to concentrate their time on higher level code.

      Repairability - The X-Series pan & tilts are made for the lab, our platforms are intended to be worked on and we've made it as easy as possible to keep your robot up and running. Quickly and easily swap out motors that need to be replaced, everything you need to repair your platform is kept in stock, making it easy to keep your equipment up and running with minimal downtime.



      WidowX XM540 Pan & Tilt

      • Weight
      • Protocol
      • Payload
      • Resolution
      • 2400g
      • TTL
      • 6800g
      • 4096

      DYNAMIXEL XM540-W270-T

      • MCU
      • MOTOR
      • BAUD RATE
      • BACKLASH
      • GEAR RATIO
      • ARM CORTEX-M3 (72 [MHz], 32Bit)
      • Contactless absolute encoder (12Bit, 360 [°])
      • Coreless
      • 9,600 [bps] ~ 4.5 [Mbps]
      • PID Control
      • 4096 [pulse/rev]
      • 15 [arcmin] (0.25 [°])
      • 353.5 : 1
      • 3.8 [N.m] (at 11.1 [V], 2.1 [A])
      • 43 [rev/min] (at 11.1 [V])