HerkuleX Smart Servo DRS-0101 - 12kgf.cm

Download the Arduino library here!

This Dongbu's HerkuleX DRS-0101 servo is state of the art modular smart servos that support multi-drop TTL Full Duplex UART serial communications protocol with a maxium speed of 0.667Mbps. A single command can set the speed, position, LED lighting and operational compliance of up to 254 servos simultaneously.

The incorporated control circuitry is capable of detecting and responding to internal changes in temperature and voltage supply and supports resolution of 0.325 degrees. It has the highest stall torque in its class in relation to size, weight, and power requirement. Recommended rotational range is within 300 degrees and continuous rotation can be implemented.

Manufactured using Super Engineering Plastic, this servo are highly durable, impact resistant and designed to withstand high torque stress levels. It has self-diagnostics if there are temperature or torque overloads and issue errors that protect the servos from potential damage and prolong servo life.

By using the exact same shape and size for both the DRS-0101 (12kgf.cm@7.4V) and DRS-0201 (24kgf.cm@7.4V), Dongbu enabled robot builders to easily interchange servos with different specs (Torque and Speed) without afecting the mechanical structure and design of the robot.

DRS-0101: Stall Torque of 166.8 oz.-in. (12kg.-cm); 0.166s/60 @7.4V; plastic bushing
DRS-0201 : Stall Torque of 333.6 oz-.in. (24kgf.cm); 0.147s/60 @7.4V; metal ball bearing

Package includes:

1. 1x DRS-0101 Smart Servo
2. 1x Horn
3. 1x Horn Bolt
4. 1x Wheel Horn Bushing
5. 1x Wheel Horn Washer
6. 1x Wheel Horn Bolt (M3x8)
7. 2x Cable Guard
8. 2x 1-Type Joint
9. 2x L-type Joint
10. 4x L-Type Joint (Single Nut)
11. 4x Bracket Bolt
12. 12x Joint Bolt (M2x5)
13. 1x Wire Harness (200mm)

Features:

• PID and Feedforward control
• 0.325 degrees resolution provides very accurate smooth control and minimal vibration
• Position Control Mode (with Position Feedback and Load Feedback)
• Continuous Rotation Mode (Wheel mode)
• Ladder type speed profile
• Speed Override
• Torque saturator and offset
• Overload protection and overheating protection
• Deadband
• 50 selectable parameters that you let specifically customize Servo behaviour when Moving and Holding position.

Specifications:

• Input Voltage: 7.4VDC
• Stop Torque: 12kgf.cm @ 7.4V
• Max Speed: 0.166 seconds/60 degree @ 7.4V
• Operating Angle: 320 degree, Continuous Rotation
• Communication: Full Duplex Aysnchronous Serial (TTL), Multi-Drop, 0-254 ID, Max 0.67Mbps
• Motor: Metal Brush DC Cored
• Gear: Super Engineering Plastic
• Feedback: Position, Speed, Temperature, Overload, Voltage, etc

Dimensions:

• Size: 44.5(W) x 24.0(D) x 32.0(H)mm
• Weight: 45g

Documents:

• HerkuleX Manual
• HerkuleX Manager Software v1.2
• Sample code in 'C' (Atmega128)
• Mechanical data - Herkulex servo (STP)
• Mechanical data - Brackets (STP)
• Mechanical data - Wheel horn (2D)
• Manager Kit Manual
• Getting Started Guide
• Arduino Library
• Arduino Library Quick Start Guide
• Alternative Arduino library from Robottini
• C/C++ Library for PC