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.
Software Control
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Overview |
| Overview |
Packages for Ubuntu 16.04 & ROS Kinetic / Ubuntu 18.04 & ROS Melodic Contains Meshes, URDF, Inertial values, driver node as well as Gazebo config / Moveit config and examples / demos.
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The Interbotix Serial Firmware allows users to control the turret through the use of serial over USB. |
The ROBOTIS Dynamixel SDK is a software development kit that provides Dynamixel control functions using packet communication. |
| Operating System |
| Operating System |
Linux |
Windows / MacOS / Linux |
Windows / MacOS / Linux |
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Languages |
| Languages |
C++, Python, or any other ROS compatable languages |
Any language which can communicate via serial over USB |
C, C++, C#, Python, Java, MATLAB, LabVIEW and ROS. |
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Controller |
| Controller |
DYNAMIXEL U2D2 |
OpenCM9.04c |
DYNAMIXEL U2D2 |
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Demos |
| Demos |
Examples include:
- MoveIt!
- Rviz Gazebo Simulation
- Physical Robot Control
- Puppet Control
- Diagnostics & Data Recording
- PS3/PS4 Control
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A Windows Demo is provided allowing for control of any standard X-Series Turret. Tools are provided for users to become familiar with the Interbotix Serial Protocol |
Robotis provides sample code in many languages for users to get started |
HIGH PERFORMANCE DYNAMIXEL SERVOS
ROS Packages & Support
ROS packages for Kinetic and Melodic on Ubuntu Linux 16.04 and 18.04 make it easy to get started with the ViperX XM540 Turret. Packages include full meshes and URDFs (including accurate inertial models for the links), 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.
Product Features:
- XM540-W270 Servos
- Industrial Bearing Base
- OpenCM9.04-C
- DYNAMIXEL U2D2
- 2 DOF
Includes:
- 2x XM540-W270 Actuators
- 1x OpenCM9.04-C
- 1x DYNAMIXEL U2D2
- 1x 12v5a Power Supply
- 1x USB2 Micro Cable
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| Protocol |
TTL |
| Payload |
6800g |
| Resolution |
4096 |
| Weight | 2400g |
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INDUSTRIAL GRADE BEARING
The ViperX XM540 Turret features an industrial quality, high grade slewing bearing base as the central mounting point. The bearing ensures maximum rigidity and accuracy and takes all strain of the base servo increasing the longevity of the turret.
| Model Number |
XM540-W270-R |
| Weight (g) |
165g |
| Dimensions (mm) |
33.5mm x 58.5mm x 44mm |
| Gear Ratio |
272.5 : 1 |
| Operation Voltage (V) |
11.1 |
12 |
14.8 |
| Stall Torque (N.m) |
10.0 |
10.6 |
12.9 |
| Stall Current (A) |
4.2 |
4.4 |
5.5 |
| No Load Speed (RPM) |
28 |
30 |
37 |
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| MCU |
ST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT) |
| Position Sensor |
Contactless absolute encoder (12BIT,360°) by AMS |
| Motor |
Coreless Motor |
| Resolution |
0.088° x 4,096 |
| Operating Range |
Position Control Mode : 360°
Velocity Control Mode : Endless turn
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| Input Voltage (V) |
10~14.8V (Recommended voltage : 12V) |
| Operating Temperature (°C) |
-5°C ~ 80°C |
| Command Signal |
Digital Packet |
| Protocol Type |
Half Duplex Asynchronous Serial Communication (8bit, 1stop, No Parity) |
| Link (physical) |
TTL Level Multi Drop Bus |
| ID |
253 ID (0~252) |
| Baud Rate |
9600 bps ~ 4.5 Mbps |
| Feedback |
Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc. |
| Material |
Case : Metal (Front, Middle)
Engineering Plastic (Back)
Gear : Full Metal
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| Standby current |
40 mA |
Mounting Hardware
The base comes with mounting thumb screws to secure the turret easily to most any surface, wood screws are also an option for a more permanent mounting solution.
Documentation: