Dynamixel MX-28AT Robot Actuator

The ROBOTIS Dynamixel MX-28AT is a smart robotic servo actuator that integrates a coreless DC motor, a 193:1 metal gearbox, a motor driver, a 32-bit ARM Cortex-M3 controller, and a 12-bit contactless absolute encoder into a single compact module weighing 77 g. It delivers up to 3.1 N.m of stall torque at 14.8 V over a TTL half-duplex serial bus and supports both DYNAMIXEL Protocol 1.0 natively and Protocol 2.0 via a firmware upgrade. The actuator runs in three control modes, Joint (0 to 360 deg), Wheel (continuous rotation), and Multi-turn, using closed-loop PID control at 4,096 counts per revolution. Onboard feedback registers expose present position, velocity, load, input voltage, and temperature. With low 20 arcmin backlash and a 12-bit encoder it is well suited for legged robots, robotic arms, snake robots, and other precision multi-axis platforms.