Servomotor Dynamixel H42P-020-S300-R

Dynamixel Servo pro plus Robotis : H42P-020-S300-R

DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module. DYNAMIXEL PRO Plus Series implements removable reduction cycloid gears, resulting in high precision and impact resistance.

For full details of the Robotis Pro Plus H42P-020-S300-R dynamixel actuator, consult the dedicated sheet on the official website HERE.

• Torque control based on current sensing
• Position, Torque and Speed-based command
• High resolution with combination of Incremental Encoder and Contactless Absolute Encoder
• Full metal housing for high durability
• Can be used to make a full-size manipulator, pan tilt, humanoid, etc.

DYNAMIXEL PRO Plus H42P-020-S300-R Upgrade Details :

• Improved design and JST connectors applied
• Improved dirt inflow and leakage
• Improved control table (Supports X-series functions) 
• Enhanced control performance such as responsiveness and resolution
• Enhanced communication responsiveness
• Improved heat, noise, and durability

Servo H42P-020-S300-R: specifications​​

• Model Name H42P-020-S300-R
• MCU Cortex-M4 (168 [Mhz], 32 [bit])
• Input Voltage Min. [V] - / Recommended [V] 24.0 / Max. [V] -
• Performance Characteristics Voltage [V] 24.0 / Stall Torque [N·m] - / Stall Current [A] - / No Load Speed [rpm] 32.7 / No Load Current [A] 0.57
• Continuous Operation *) Voltage [V] 24.0 / Torque [N·m] 5.1 / Speed [rpm] 29.2 / Current [A] 1.5
• Resolution Resolution [deg/pulse] 0.0006 / Step [pulse] 607 / Angle [degree] 360
• Position Sensor Contactless absolute encoder / Incremental encoder
• Operating Temperature Min. [°C] -5 / Max. [°C] 55
• Motor Coreless (Maxon)
• Baud Rate Min. [bps] 9,600 / Max. [bps] 10,500,000
• Control Algorithm PID
• Gear Type Cycloid
• Gear Material Precious Metal
• Case Material Precious Metal
• Dimensions (WⅹHⅹD) [mm] 42.0 X 84.0 X 42.0
• Dimensions (WⅹHⅹD) [inch] 1.65 X 3.31 X 1.65
• Weight [g] 340.00
• Weight [oz] 11.99
• Gear Ratio 303.8 : 1
• Command Signal Digital Packet
• Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
• Link (Physical) RS485 Multi Drop Bus
• ID 0 ~ 252
• Feedback Position, Velocity, Current, Temperature, Voltage, External Port, etc
• Protocol version 2
• Operating Mode / Angle Torque Control Mode / Velocity Control Mode / Position Control Mode / Extended Position Control / Mode PWM Control Mode
• Output [W] 20
• Standby Current [mA] 30

These specifications are calculated based on the specifications of the core motor. Please consult ROBOTIS for the long term use or special use, or else refer to the Performance Graph for general use.

H42P-020-S300-R Robotis: compatible products

• Controller : OpenCM 485 Expansion Board, OpenCR1.0
• Interface : USB2Dynamixel, U2D2

Consult the Robotis Dynamixel compatibility table HERE.

Caution :

• The operational voltage is different from other DYNAMIXEL series (Operational voltage: 24V).
• Depending on the number of units used, it is recommended to use a separate power supply.
• JST 4Pin connector is applied for communication.
• The 42 series uses the same hinge frames.(FRP42-H110/120)