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  title: XL330-M288-T
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![](/assets/images/dxl/x/xl330/xl330-series_product.png)

> XL330-M288-T

![](/assets/images/dxl/x/x330/x330_new_information_en.jpg)

# [Specifications](#specifications)

{% include en/dxl/specifications_x.md %}

<details>
<summary>
![](/assets/images/icon_unfold.png) **Looking for the same form factors?**
</summary>
{% include common/compatible_dxl/compatible_x330.md %}
</details>

{% include en/dxl/warning.md %}

{% include en/dxl/control_table.md %}

## [Control Table of EEPROM Area](#control-table-of-eeprom-area)

| Address | Size(Byte) | Data Name                                       | Access | Initial<br />Value | Range                     | Unit             |
|:--------|:-----------|:------------------------------------------------|:-------|:-------------------|:--------------------------|:-----------------|
| 0       | 2          | [Model Number](#model-number)                   | R      | 1,200              | -                         | -                |
| 2       | 4          | [Model Information](#model-information)         | R      | -                  | -                         | -                |
| 6       | 1          | [Firmware Version](#firmware-version)           | R      | -                  | -                         | -                |
| 7       | 1          | [ID](#id)                                       | RW     | 1                  | 0 ~ 252                   | -                |
| 8       | 1          | [Baud Rate](#baud-rate)                         | RW     | 1                  | 0 ~ 6                     | -                |
| 9       | 1          | [Return Delay Time](#return-delay-time)         | RW     | 250                | 0 ~ 254                   | 2  [μsec ]       |
| 10      | 1          | [Drive Mode](#drive-mode)                       | RW     | 0                  | 0 ~ 13                    | -                |
| 11      | 1          | [Operating Mode](#operating-mode)               | RW     | 3                  | 0 ~ 16                    | -                |
| 12      | 1          | [Secondary(Shadow) ID](#secondaryshadow-id12)   | RW     | 255                | 0 ~ 252                   | -                |
| 13      | 1          | [Protocol Type](#protocol-type13)               | RW     | 2                  | 2 ~ 22                    | -                |
| 20      | 4          | [Homing Offset](#homing-offset)                 | RW     | 0                  | -1,044,479 ~<br>1,044,479 | 1  [pulse ]      |
| 24      | 4          | [Moving Threshold](#moving-threshold)           | RW     | 10                 | 0 ~ 1,023                 | 0.229  [rev/min] |
| 31      | 1          | [Temperature Limit](#temperature-limit)         | RW     | 70                 | 0 ~ 100                   | 1  [&deg;C]      |
| 32      | 2          | [Max Voltage Limit](#max-voltage-limit)         | RW     | 70                 | 31 ~ 70                   | 0.1  [V]         |
| 34      | 2          | [Min Voltage Limit](#min-voltage-limit)         | RW     | 35                 | 31 ~ 70                   | 0.1  [V]         |
| 36      | 2          | [PWM Limit](#pwm-limit)                         | RW     | 885                | 0 ~ 885                   | 0.113  [%]       |
| 38      | 2          | [Current Limit](#current-limit)                 | RW     | 1,750              | 0 ~ 1,750                 | 1  [mA ]         |
| 44      | 4          | [Velocity Limit](#velocity-limit)               | RW     | 445                | 0 ~ 2,047                 | 0.229  [rev/min] |
| 48      | 4          | [Max Position Limit](#max-position-limit)       | RW     | 4,095              | 0 ~ 4,095                 | 1  [pulse]       |
| 52      | 4          | [Min Position Limit](#min-position-limit)       | RW     | 0                  | 0 ~ 4,095                 | 1  [pulse]       |
| 60      | 1          | [Startup Configuration](#startup-configuration) | RW     | 0                  | 3                         | -                |
| 62      | 1          | [PWM Slope](#pwm-slope)                         | RW     | 140                | 1 ~ 255                   | 1.977 [mV/msec]  |
| 63      | 1          | [Shutdown](#shutdown)                           | RW     | 53                 | -                         | -                |

## [Control Table of RAM Area](#control-table-of-ram-area)

| Address | Size(Byte) | Data Name                                         | Access | Initial<br />Value |                       Range                        |               Unit               |
|:-------:|:----------:|:--------------------------------------------------|:------:|:------------------:|:--------------------------------------------------:|:--------------------------------:|
|   64    |     1      | [Torque Enable](#torque-enable)                   |   RW   |         0          |                       0 ~ 1                        |                \-                |
|   65    |     1      | [LED](#led)                                       |   RW   |         0          |                       0 ~ 1                        |                \-                |
|   68    |     1      | [Status Return Level](#status-return-level)       |   RW   |         2          |                       0 ~ 2                        |                \-                |
|   69    |     1      | [Registered Instruction](#registered-instruction) |   R    |         0          |                       0 ~ 1                        |                \-                |
|   70    |     1      | [Hardware Error Status](#hardware-error-status)   |   R    |         0          |                         \-                         |                \-                |
|   76    |     2      | [Velocity I Gain](#velocity-i-gain)               |   RW   |       1,600        |                     0 ~ 16,383                     |                \-                |
|   78    |     2      | [Velocity P Gain](#velocity-p-gain)               |   RW   |        180         |                     0 ~ 16,383                     |                \-                |
|   80    |     2      | [Position D Gain](#position-d-gain)               |   RW   |         0          |                     0 ~ 16,383                     |                \-                |
|   82    |     2      | [Position I Gain](#position-i-gain)               |   RW   |         0          |                     0 ~ 16,383                     |                \-                |
|   84    |     2      | [Position P Gain](#position-p-gain)               |   RW   |        400         |                     0 ~ 16,383                     |                \-                |
|   88    |     2      | [Feedforward 2nd Gain](#feedforward-2nd-gain)     |   RW   |         0          |                     0 ~ 16,383                     |                \-                |
|   90    |     2      | [Feedforward 1st Gain](#feedforward-1st-gain)     |   RW   |         0          |                     0 ~ 16,383                     |                \-                |
|   98    |     1      | [Bus Watchdog](#bus-watchdog)                     |   RW   |         0          |                      1 ~ 127                       |           20 \[msec\]            |
|   100   |     2      | [Goal PWM](#goal-pwm)                             |   RW   |         \-         |         \-PWM Limit(36) ~<br>PWM Limit(36)         |                \-                |
|   102   |     2      | [Goal Current](#goal-current)                     |   RW   |         \-         |     \-Current Limit(38) ~<br>Current Limit(38)     |             1 \[mA\]             |
|   104   |     4      | [Goal Velocity](#goal-velocity)                   |   RW   |         \-         |    \-Velocity Limit(44) ~<br>Velocity Limit(44)    |        0.229 \[rev/min\]         |
|   108   |     4      | [Profile Acceleration](#profile-acceleration)     |   RW   |         0          |              0 ~ 32,767<br>0 ~ 32,737              | 214.577 \[rev/min2\]<br>1 \[ms\] |
|   112   |     4      | [Profile Velocity](#profile-velocity)             |   RW   |         0          |                     0 ~ 32,767                     |        0.229 \[rev/min\]         |
|   116   |     4      | [Goal Position](#goal-position)                   |   RW   |         \-         | Min Position Limit(52) ~<br>Max Position Limit(48) |           1 \[pulse\]            |
|   120   |     2      | [Realtime Tick](#realtime-tick)                   |   R    |         \-         |                     0 ~ 32,767                     |            1 \[msec\]            |
|   122   |     1      | [Moving](#moving)                                 |   R    |         0          |                       0 ~ 1                        |                \-                |
|   123   |     1      | [Moving Status](#moving-status)                   |   R    |         0          |                         \-                         |                \-                |
|   124   |     2      | [Present PWM](#present-pwm)                       |   R    |         \-         |                         \-                         |                \-                |
|   126   |     2      | [Present Current](#present-current)               |   R    |         \-         |                         \-                         |             1 \[mA\]             |
|   128   |     4      | [Present Velocity](#present-velocity)             |   R    |         \-         |                         \-                         |        0.229 \[rev/min\]         |
|   132   |     4      | [Present Position](#present-position)             |   R    |         \-         |                         \-                         |           1 \[pulse\]            |
|   136   |     4      | [Velocity Trajectory](#velocity-trajectory)       |   R    |         \-         |                         \-                         |        0.229 \[rev/min\]         |
|   140   |     4      | [Position Trajectory](#position-trajectory)       |   R    |         \-         |                         \-                         |           1 \[pulse\]            |
|   144   |     2      | [Present Input Voltage](#present-input-voltage)   |   R    |         \-         |                         \-                         |            0.1 \[V\]             |
|   146   |     1      | [Present Temperature](#present-temperature)       |   R    |         \-         |                         \-                         |             1 \[°C\]             |
|   147   |     1      | [Backup Ready](#backup-ready)                     |   R    |         -          |                       0 ~ 1                        |                -                 |
|   168   |     2      | [Indirect Address 1](#indirect-address)           |   RW   |        224         |                      64 ~ 251                      |                -                 |
|   170   |     2      | [Indirect Address 2](#indirect-address)           |   RW   |        225         |                      64 ~ 251                      |                -                 |
|   172   |     2      | [Indirect Address 3](#indirect-address)           |   RW   |        226         |                      64 ~ 251                      |                -                 |
|    …    |     …      | …                                                 |   …    |         …          |                         …                          |                …                 |
|   218   |     2      | [Indirect Address 26](#indirect-address)          |   RW   |        249         |                      64 ~ 251                      |                -                 |
|   220   |     2      | [Indirect Address 27](#indirect-address)          |   RW   |        250         |                      64 ~ 251                      |                -                 |
|   222   |     2      | [Indirect Address 28](#indirect-address)          |   RW   |        251         |                      64 ~ 251                      |                -                 |
|   224   |     1      | [Indirect Data 1](#indirect-data)                 |   RW   |         0          |                      0 ~ 255                       |                -                 |
|   225   |     1      | [Indirect Data 2](#indirect-data)                 |   RW   |         0          |                      0 ~ 255                       |                -                 |
|   226   |     1      | [Indirect Data 3](#indirect-data)                 |   RW   |         0          |                      0 ~ 255                       |                -                 |
|    …    |     …      | …                                                 |   …    |         …          |                         …                          |                …                 |
|   249   |     1      | [Indirect Data 26](#indirect-data)                |   RW   |         0          |                      0 ~ 255                       |                -                 |
|   250   |     1      | [Indirect Data 27](#indirect-data)                |   RW   |         0          |                      0 ~ 255                       |                -                 |
|   251   |     1      | [Indirect Data 28](#indirect-data)                |   RW   |         0          |                      0 ~ 255                       |                -                 |

**NOTE** : Firmware versions prior to V53 support up to 20 Indirect Address/Data items. The address range for Indirect Address is 168 ~ 207, and for Indirect Data is 208 ~ 227.
{: .notice}

## [Control Table Description](#control-table-description)

**CAUTION** : Data in the EEPROM Area can only be written when the value of Torque Enable(64) is cleared to ‘0’.
{: .notice--warning}

### <a name="model-number"></a>**[Model Number(0)](#model-number0)**
 This address stores model number of DYNAMIXEL.

### <a name="firmware-version"></a>**[Firmware Version(6)](#firmware-version6)**
 This address stores firmware version of DYNAMIXEL.

### <a name="id"></a>**[ID(7)](#id7)**
{% include en/dxl/control_table_id.md %}

### <a name="baud-rate"></a>**[Baud Rate(8)](#baud-rate8)**
{% include en/dxl/control_table_baudrate_2.md %}

### <a name="return-delay-time"></a>**[Return Delay Time(9)](#return-delay-time9)**
{% include en/dxl/control_table_return_delay_time.md %}

### <a name="drive-mode"></a>**[Drive Mode(10)](#drive-mode10)**
{% include en/dxl/control_table_drivemode.md %}

### <a name="operating-mode"></a>**[Operating Mode(11)](#operating-mode11)**
{% include en/dxl/control_table_opmode_six_2.md %}

### <a name="secondary-shadow-id"></a>**[Secondary(Shadow) ID(12)](#secondaryshadow-id12)**
{% include en/dxl/control_table_shadowid.md %}

### <a name="protocol-version"></a>**[Protocol Type(13)](#protocol-type13)**
{% include en/dxl/control_table_protocolversion.md %}

### <a name="homing-offset"></a>**[Homing Offset(20)](#homing-offset20)**
{% include en/dxl/control_table_homingoffset.md %}

### <a name="moving-threshold"></a>**[Moving Threshold(24)](#moving-threshold24)**
{% include en/dxl/control_table_movingthreshold.md %}

### <a name="temperature-limit"></a>**[Temperature Limit(31)](#temperature-limit31)**
{% include en/dxl/control_table_temp_limit_2.md %}

### <a name="max-voltage-limit"></a><a name="min-voltage-limit"></a>**[Min/Max Voltage Limit(34, 32)](#minmax-voltage-limit34-32)**
{% include en/dxl/control_table_volt_limit_2.md %}

### <a name="pwm-limit"></a>**[PWM Limit(36)](#pwm-limit36)**
{% include en/dxl/control_table_pwm_limit.md %}

### <a name="current-limit"></a>**[Current Limit(38)](#current-limit38)**
{% include en/dxl/control_table_current_limit.md %}

|     Unit      | Value Range |
|:-------------:|:-----------:|
| about  1 [mA] |  0 ~ 1,750  |

{% capture current_limit_note %}  
**NOTE** : 
- Current Limit(38) may differ by each DYNAMIXEL so please check the Control Table.
- XL330 series measures curret at its input power source unlike other DYNAMIXE-X series supporting a current control. Therefore, you may have a different results in measuring current of XL330 series comparing with measuring phase current which quickly changes of a DC motor.
{% endcapture %}
<div class="notice">{{ current_limit_note | markdownify }}</div>

### <a name="velocity-limit"></a>**[Velocity Limit(44)](#velocity-limit44)**
{% include en/dxl/control_table_vellimit.md %}

### <a name="max-position-limit"></a><a name="min-position-limit"></a>**[Min/Max Position Limit(52, 48)](#minmax-position-limit52-48)**
{% include en/dxl/control_table_positionlimit.md %}

### <a name="startup-configuration"></a>**[Startup Configuration(60)](#startup-configuration60)**
{% include en/dxl/control_table_60_startup_configuration.md %}

### <a name="pwm-slope"></a>**[PWM Slope(62)](#pwm-slope62)**

<!-- 
The XL330 forwards the PWM duty will be linearly interpolated with a set slope by PWM Slope(62) to the motor's inverter 
 -->

The PWM duty will be linearly interpolated with a set slope by PWM Slope(62) and be forwarded to the motor's inverter.

|      Unit       | Value Range |
|:---------------:|:-----------:|
| 1.977 [mV/msec] |   0 ~ 255   |

#### PWM Slope Example

If the set value of PWM Slope(62) is '140' (equal to 276.84 [mV/msec]), and the value of [Goal PWM(100)] is changed from '0' to '885' on PWM Mode (at 5V), the reaching time when the [Present PWM(124)] value reaches to '885' from '0' is going to be 18 [msec] by the following calculation formula: 5,000 [mV]/276.84 [mV/msec] = 18.06 [msec].

![](/assets/images/dxl/x/x330/xl330_pwm_slope_example.png)

> PWM Slope Example

### <a name="shutdown"></a>**[Shutdown(63)](#shutdown63)**
{% include en/dxl/control_table_shutdown.md %}

### <a name="torque-enable"></a>**[Torque Enable(64)](#torque-enable64)**
{% include en/dxl/control_table_torque_enable.md %}

### <a name="led"></a>**[LED(65)](#led65)**
{% include en/dxl/control_table_led.md %}

### <a name="status-return-level"></a>**[Status Return Level(68)](#status-return-level68)**
{% include en/dxl/control_table_status_return_lv.md %}

### <a name="registered-instruction"></a>**[Registered Instruction(69)](#registered-instruction69)**
{% include en/dxl/control_table_reg_instruction.md %}

### <a name="hardware-error-status"></a>**[Hardware Error Status(70)](#hardware-error-status70)**
The Hardware Error Status(70) indicates hardware error status.  
{% include en/dxl/control_table_shutdown.md %}

### <a name="velocity-i-gain"></a><a name="velocity-p-gain"></a>**[Velocity PI Gain(76, 78)](#velocity-pi-gain76-78)**
{% include en/dxl/control_table_velocity_pi_gain.md %}

### <a name="position-d-gain"></a><a name="position-i-gain"></a><a name="position-p-gain"></a><a name="feedforward-1st-gain"></a><a name="feedforward-2nd-gain"></a><a name="position-pid-gain80-82-84"></a><a name="feedforward-1st2nd-gains88-90"></a>**Position PID Gain(80, 82, 84), Feedforward 1st/2nd Gains(88, 90)**
{% include en/dxl/control_table_position_pid_gain.md %}
{% include en/dxl/control_table_current_position_pid_gain.md %}

### <a name="bus-watchdog"></a>**[Bus Watchdog(98)](#bus-watchdog98)**
{% include en/dxl/control_table_buswatchdog.md %}

### <a name="goal-pwm"></a>**[Goal PWM(100)](#goal-pwm100)**
{% include en/dxl/control_table_goal_pwm.md %}

### <a name="goal-current"></a>**[Goal Current(102)](#goal-current102)**
{% include en/dxl/control_table_goal_current.md %}

|     Unit      |              Value Range               |
|:-------------:|:--------------------------------------:|
| about  1 [mA] | -Current Limit(38) ~ Current Limit(38) |

**NOTE**: [Goal Current(102)] can not exceed [Current Limit(38)].
{: .notice}

{% capture current_limit_note %}  
**NOTE** : 
- Current Limit(38) may differ by each DYNAMIXEL so please check the Control Table.
- XL330 series measures curret at its input power source unlike other DYNAMIXE-X series supporting a current control. Therefore, you may have a different results in measuring current of XL330 series comparing with measuring phase current which quickly changes of a DC motor.
{% endcapture %}
<div class="notice">{{ current_limit_note | markdownify }}</div>

**WARNING** : Applying high current to the motor for long period of time might damage the motor.
{: .notice--warning}

### <a name="goal-velocity"></a>**[Goal Velocity(104)](#goal-velocity104)**
{% include en/dxl/control_table_goal_velocity.md %}

### <a name="profile-acceleration"></a>**[Profile Acceleration(108)](#profile-acceleration108)**
{% include en/dxl/control_table_profile_acceleration.md %}

### <a name="profile-velocity"></a>**[Profile Velocity(112)](#profile-velocity112)**
{% include en/dxl/control_table_profile_velocity.md %}

### <a name="goal-position"></a>**[Goal Position(116)](#goal-position116)**
{% include en/dxl/control_table_goal_position_2.md %}

### <a name="realtime-tick"></a>**[Realtime Tick(120)](#realtime-tick120)**
{% include en/dxl/control_table_realtime_tick.md %}

### <a name="moving"></a>**[Moving(122)](#moving122)**
{% include en/dxl/control_table_moving_2.md %}

### <a name="moving-status"></a>**[Moving Status(123)](#moving-status123)**
{% include en/dxl/control_table_moving_status.md %}

### <a name="present-pwm"></a>**[Present PWM(124)](#present-pwm124)**
The Present PWM(124) indicates current PWM. For more details, see the [Goal PWM(100)](#goal-pwm).

### <a name="present-current"></a>**[Present Current(126)](#present-current126)**
The Present Current(126) indicates current Current. For more details, see the [Goal Current(102)](#goal-current).

### <a name="present-velocity"></a>**[Present Velocity(128)](#present-velocity128)**
The Present Velocity(128) indicates current Velocity. For more details, see the [Goal Velocity(104)](#goal-velocity104).

### <a name="present-position"></a>**[Present Position(132)](#present-position132)**
{% include en/dxl/control_table_present_position.md %}

### <a name="velocity-trajectory"></a>**[Velocity Trajectory(136)](#velocity-trajectory136)**
{% include en/dxl/control_table_velocity_trajectory.md %}

### <a name="position-trajectory"></a>**[Position Trajectory(140)](#position-trajectory140)**
{% include en/dxl/control_table_position_trajectory.md %}

### <a name="present-input-voltage"></a>**[Present Input Voltage(144)](#present-input-voltage144)**
{% include en/dxl/control_table_present_volt_2.md %}

### <a name="present-temperature"></a>**[Present Temperature(146)](#present-temperature146)**
{% include en/dxl/control_table_present_temp_2.md %}

### <a name="backup-ready"></a>**[Backup Ready(147)](#backup-ready147)**
{% include en/dxl/control_table_backup_ready.md %}

### <a name="indirect-address"></a><a name="indirect-data"></a>**[Indirect Address](#indirect-address)**, **[Indirect Data](#indirect-data)**
{% include en/dxl/control_table_indirect_data.md %}

# [How to Assemble](#how-to-assemble)

{% include en/dxl/drawing/x330_drawing.md %}

# [Reference](#reference)

**NOTE**  
[Compatibility Guide]{: .blank}  
[Harness Compatibility]{: .popup}
{: .notice}

## [What is the Profile](#what-is-the-profile)

{% include en/dxl/profile_description.md %}

## [Certifications](#certifications)
Please inquire us for information regarding unlisted certifications.

### [FCC](#fcc)
{% include en/dxl/fcc_class_a.md %}

## [Quick Start](#quick-start)

{% include en/dxl/quick_start.md %}

## [Connector Information](#connector-information)

{% include en/dxl/jst_ttl.md %}

{% include en/dxl/ttl_connection_x.md %}

## [Drawings](#drawings)

- `Download` [XL330.pdf]{: .blank}
- `Download` [XL330.dwg]{: .blank}
- `Download` [XL330.stp]{: .blank}

{% include en/dxl/download_center_notice.md %}

[XL330.pdf]: https://www.robotis.com/service/download.php?no=1986
[XL330.dwg]: https://www.robotis.com/service/download.php?no=1985
[XL330.stp]: https://www.robotis.com/service/download.php?no=1987

[Compatibility Guide]: http://en.robotis.com/service/compatibility_table.php?cate=dx

{% include en/dxl/common_link.md %}

## [Moment Of Inertia](#moment-of-inertia)

- `Download` [XL330,XC330 Moment of Inertia]{: .blank}

[XL330,XC330 Moment of Inertia]: https://www.robotis.com/service/download.php?no=2136