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0.20 LBS
Calculated at checkout
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Product Description

This product should be used with the OpenCM9.04-A, and OpenCM9.04-C.


  • The DYNAMIXEL XL-320 is a robot smart actuator with a fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one small DC servo module.
  • The XL-320 has a high performance and precise control as compared to its compact size.
  • Uses TTL communication and can be daisy chained to help construct robots easily.
  • High reliability and accuracy for position control with PID control.
  • Built-in clutch for reduction gear protection to improve durability and safety.
  • There is a three color LED which can be programmed for display.
  • Used on the ROBOTIS-MINI


  • DYNAMIXEL XL-320 x 1pc
  • Cable - 3P 100mm (fits XL-320) x 1pc


Description Specification
Weight 16.7 g
Dimension 24mm x 36mm x 27mm
Gear Ratio 238 : 1
Operation Voltage (V) 7.4
Stall Torque (N.m) 0.39
No Load Speed (RPM) 114
Motor Cored Motor
Minimum Control Angle About 0.29° x 1,024
Operating Range Actuator Mode : 300° Wheel Mode : Endless turn
Operating Voltage 6~8.4V (Recommended voltage : 7.4V)
Operating Temperature -5° ~ 70°
Command Signal Digital Packet
Protocol Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity)
Link (physical) TTL Level Multi Drop (daisy chain type connector)
ID 253 ID (0~252)
Baud Rate 7843bps ~ 1Mbps
Feedback Functions Position, Temperature, Load, Input Voltage, etc.
Material Case : Engineering Plastic Gear : Engineering Plastic

 ** Stall torque is the maximum instantaneous and static torque **

 Stable motions are possible with robots designed for loads with 1/5 or less of the stall torque


  • ID : 1
  • Baud Rate : 1Mbps 
  • Default mode is in joint mode.
  • Please change the ID and baud rate according to your use after purchase.


  • DOES NOT support the similar 3P cable used in AX-series.
  • Has a similar shape and dimension as the OLLO Servo Motor (OSM-10), but it is NOT the same, so please check the drawings before your purchase (Different size, voltage, connector).
  • XL-320 uses the DYNAMIXEL 2.0 protocol. Please visit the e-Manual page first to check the usage.
  • Not compatible with CM-100 / 100A / CM-150 / CM-200


  • The XL-series mini TTL connector is required to connect to the OpenCM9.04 controllers ONLY.
  • AX-series 3P cable CANNOT be used.
  • Frame : OLLO Frame (6mm pitch between holes)




■ Hyperlinks


Controller Compatibility Chart : Click Here

Download Drawing : Click Here

Software RoboPlus (R+) : Click Here

DXL SDK 3.0 for Windows/Linux (Github): Click Here

OpenCM IDE : Click Here

Link to e-Manual : Click Here

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