DYNAMIXEL Pro Plus H42P-020-S300-R

DYNAMIXEL Pro Plus H42P-020-S300-R
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  • ROBT-902-0081-001
  • 902-0081-001
    Features Dynamixel Pro+ series is a self-developed high... more
Product information "DYNAMIXEL Pro Plus H42P-020-S300-R"




Dynamixel Pro+ series is a self-developed high performance all-in-one actuator equipped with a cycloid reducer.

Torque control based on current sensing

Increased reliability and accuracy for position and speed control through PID control

High resolution with combination of Incremental Encoder and Contactless Absolute Encoder

Full metal housing for high durability

Can be used to make a full-size manipulator, pan tilt, humanoid, etc.


[Dynamixel PRO+] Upgrade Details

Improved design and JST connectors applied)

Improved dirt inflow and leakage (54-Series)

Improved control table (Supports X-series functions) 

Enhanced control performance such as responsiveness and resolution

Enhanced communication responsiveness

Improved heat, noise, and durability

Package Components

H42P-020-S300-R 1
Robot Cable-X4P 600mm 2
Wrench Bolt WB M3x8 20


Compatible Products

Controller : OpenCM 485 Expansion Board, OpenCR1.0

Interface : USB2Dynamixel, U2D2

Factory Default Settings

ID : 1

Baud Rate : 57600bps

(User can change various settings including ID and baud rate according to environment)



The operational voltage is different from other DYNAMIXEL series (Operational voltage: 24V).

Depending on the number of units used, it is recommended to use a separate power supply.

JST 4Pin connector is applied for communication.

The 42 series uses the same hinge frames.(FRP42-H110/120)




Model Name H42P-020-S300-R
MCU Cortex-M4 (168 [Mhz], 32 [bit])
Input VoltageMin. [V] -
Recommended [V] 24.0
Max. [V] -
Performance CharacteristicsVoltage [V] 24.0
Stall Torque [N·m] -
Stall Current [A] -
No Load Speed [rpm] 32.7
No Load Current [A] 0.57
Continuous OperationVoltage [V] 24.0
Torque [N·m] 5.1
Speed [rpm] 29.2
Current [A] 1.5
ResolutionResolution [deg/pulse] 0.0006
Step [pulse] 607,500
Angle [degree] 360
Position Sensor Contactless absolute encoder
Incremental encoder
Operating TemperatureMin. [°C] -5
Max. [°C] 55
Motor Coreless (Maxon)
Baud RateMin. [bps] 9,600
Max. [bps] 10,500,000
Control Algorithm PID
Gear Type Cycloid
Gear Material Precious Metal
Case Material Precious Metal
Dimensions (W?H?D) [mm] 42.0 X 84.0 X 42.0
Dimensions (W?H?D) [inch] 1.65 X 3.31 X 1.65
Weight [g] 340.00
Weight [oz] 11.99
Gear Ratio 303.8 : 1
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical) RS485 Multi Drop Bus
ID 0 ~ 252
Feedback Position, Velocity, Current, Temperature, Voltage, External Port, etc
Protocol version 2
Operating Mode / Angle Torque Control Mode
Velocity Control Mode
Position Control Mode
Extended Position Control Mode
PWM Control Mode
Output [W] 20
Standby Current [mA] 30
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