AX-12 Dynamixel - Dissasembly, teardown

[vmayoral]

http://www.hizook.com/blog/2010/03/14/robotis-dynamixel-servos-overview-applications-tear-down-and-open-source-software

[SaioaRomero]

Dynamixel AX-12A Teardown

This document shows step by step the tear down of the dynamixel AX-12A.

The first step is removing the four screws from the black casing. Then, it is posible to remove the front and the back covers. Removing the front cover we could see the gears out of the servo, placed in the cover. It is possible to see how the output gear is connected to the PCB´s potentiometer across the hole in the sheet that divide the gears from the PCB.

Removing the back cover we could see the PCB which is connected to the motor. Removing a little black screw it is possible to get the PCB out to obtain a better view of it. That way the two layers can be seen and more information is recorded.

In the top layer among other electronic components we could see the Atmega8A microcontroller, two dual MOSFETS (SUF 2001) under de electrolytic capacitor and also the two connectors. In the bottom layer we could see a chip with four 3-state buffers (74HC126D), a potentiometer and a voltage regulator (LM78L05).

H/W Specification

• Weight : 54.6g
• Dimension : 32mm * 50mm * 40mm
• Resolution : 0.29°
• Gear Reduction Ratio : 254 : 1
• Stall Torque : 1.5N.m (at 12.0V, 1.5A)
• No load speed : 59rpm (at 12V)
• Running Degree
  • 0° ~ 300°
  • Endless Turn
• Running Temperature : -5℃ ~ +70℃
• Voltage : 9 ~ 12V (Recommended Voltage 11.1V)
• Command Signal : Digital Packet
• Protocol Type : Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity)
• Link (Physical) : TTL Level Multi Drop (daisy chain type Connector)
• ID : 254 ID (0~253)
• Communication Speed : 7343bps ~ 1 Mbps
• Feedback : Position, Temperature, Load, Input Voltage, etc.
• Material : Engineering Plastic

ROBOTIS e-Manual v1.25.00
The next link is a short manual about the Dynamixel AX-12/ AX-12+/ AX-12A.
http://support.robotis.com/en/product/dynamixel/ax_series/dxl_ax_actuator.htm