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Specification

SensorXel

  • It supports 5.0V, 3.3V, GND through 2x5 connector. In addition, four ADC channels are supported, and the real-time pin-to-pin changeover is done in software via three MUXs, which are SensorXel's greatest features. The three pins (MUX 0, 1, 2) to which the MUX is connected can be changed to the configuration pins of the UART, I2C, and SPI, respectively, but now the pin function for each communication method is fixed as shown in the table above.
  • The voltage level of each data pin is 3.3V.
  • USER_LED can be controlled by the user as desired.
Item Description
MPU STM32L151C8T6-A
Operation Voltage/Current 12V ~ 24V / MAX 10A
I/O Voltage 3.3V(500mA)
Flash 64KB
SRAM 32KB
EEPROM 4KB
Clock 32MHz
USART 2/3
SPI 1/2
I2C 1/2
Debug SWD, UART
Dynamixel Connector TTL x 2 / RS-485 x 2 (JST)
Power Dynamixel Connector
Dimensions 34mm x 28.5mm


PowerXel

  • The main function is power management. It is possible to shut off the power of TTL and RS485 by software and monitor the power and current supplied from external power source in 0.01V, 0.1A unit.
  • External power can be connected via SMPS, Terminal Block, and BAT connector. At this time, the recommended maximum voltage is 24V.
  • For immediate power off, Jumper CAP is inserted in 2-pin so that Emergency Switch can be attached. To use the Emergency Switch, you need to provide Jumper CAP and connect it to both pins.
Item Description
MPU STM32L151C8T6-A
Operation Voltage/Current 12V ~ 24V / MAX 10A
Flash 64KB
SRAM 32KB
EEPROM 4KB
Clock 32MHz
USART 1/3
Debug SWD
Dynamixel Connector TTL x 2 / RS-485 x 2 (JST)
Power Dynamixel Connector, SMPS, Terminal block
Dimensions 48mm x 34mm


CommXel

  • It is an important part of creating and processing topics from XEL Network to ROS 2, and it features an Ethernet port and a USB port.
Item Description
MPU STM32F746ZGT6
Operation Voltage/Current 12V ~ 24V / MAX 10A
Flash 1MB
SRAM 320KB
Clock 216MHz
ETHERNET 1/1
USB 1/1
USART 2/4
Debug SWD, USART
Dynamixel Connector TTL x 2 / RS-485 x 2 (JST)
Power Dynamixel Connector
Dimensions 70mm x 26mm