Caution : Recommended for use with OpenCM9.04 controller.
(not compatible with CM-100, CM-100A, CM-150, CM-200)



DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.

XL-320 has high performance and precise control feature compared to its compact size.

Uses TTL communication with daisy chain feature to help build small robots easily.

High reliability and accuracy for position control with PID control.
Built-in clutch for reduction gear protection to improve durability and safety.

3 color LED can be programmed by users for fancier display when using the motor.


Supports TTL Communication, and DOES NOT support 3P cable used in AX-series.

Has similar shape and dimension as OLLO Servo Motor (OSM-10), but is NOT the same, so please check the drawings before purchase (Different size, voltage, connector).

XL-320 uses DYNAMIXEL 2.0 protocol. Please visit the e-Manual page first to check the usage.


Description Qty
CABLE 3P Cable 100MM (XL-320 exclusive) 1


Product Name XL-320
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°C ~ 70°C
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 PlasticGear : Engineering Plastic


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


The XL-series exclusive mini TTL connector is required to connect to the following controllers of interfaces. AX-series 3P cable CANNOT be used.

Controller : OpenCM9.04
Frame : OLLO Frame (6mm pitch between holes)
Caution : Not compatible with CM-100 / 100A / CM-200


Exclusive Software

[RoboPlus] : Download
OpenCM IDE : Download
C/C++, C#, Labview, MATLAB, Visual Basic, etc. : Download

[DOWNLOAD DRAWINGS] [Controller Compatibility Table] [e-Manual]