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XGO2 Specifications per Model

HostRaspberry CM4Raspberry CM4
ProgramBlockly & Python & ROSBlockly & Python & ROS
Structure1mm Al alloy1.5mm Al alloy
Dimensionsdefault 250-145-170mmdefault 270-150-180mm
Servo (Number)6V 2.3kg serial bus servo (15)6V 4.5kg serial bus servo (15)
Legs & feetABSSilicone & ABS
Battery18650 2S 2500mah18650 2S 3500mah
Endurance (run time)2h1h
XGO-Mini vs XGO-Lite Bus Servos Comparison
No.ItemServos in XGO-LiteServos in XGO-Mini
1No Load Speed0.1sec/60°(100RPM) @6V0.09sec/60°(111RPM) @6V
2Stall Torque (at locked) @6V
3Running Current (no load)150mA150mA
4Stall Current (at locked)1000mA1200mA
5Idle Current (at stopped)6mA6mA
6Input Voltage4V-8.4V4V-8.4V
8Rated Current400mA400mA
9Terminal resistance0.6Ω2.8Ω
10Torque constant
11Housing materialPCAluminium
12Gear materialCopper(output) + SteelSteel(output) + Copper
13Bearing typeNOBall bearings
14Angle SansorCarbon-Film potentiometerMagnetic encoder
15Gear Ratio1/4161/205
17MotorCore MotorCoreless Motor
18The Weight13.2 ± 1g22.6 ± 1g
19Connector and CableSingle cableDual connectors
20Running degree300°(when 0~1024)360°(when 0~4096)
21Resolution [deg/pulse]0.293°(300°/1024)0.088°(360°/4096)
22Operating ModesAngle servo modeAngle servo mode
23Speed open-loop servo modeSpeed open-loop servo mode
24Speed closed-loop servo mode
25Step mode
26Bus SignalTTL
27Max Position Update Rate1ms
28Signal high Voltage2V - 5V
29Signal Low Voltage0.0V - 0.45V
30Protocol TypeHalf Duplex AsynchronousSerial Communication
31ID range0 - 253
32Communication Baud Rate38400bps ~ 1 Mbps
36Input Voltage
38Electronic ProtectionOver Load
39Over Voltage
40Over Hot
41Storage Temperature Range-30℃ - 80℃
42Operating Temperature Range-20℃ - 60℃
43Standard Test Temperature Range25℃ ± 5℃
44Standard Test Humidity Range65% ± 10%

Both servo motors use TTL bus communication, and both have similar communication parameters (in the current version). However, the mini servo has a larger angular control range and more control modes due to the difference in encoder type. The core benefits of the mini servos are higher power motors with higher resolution encoders combined with more robust gears and housing to provide better motion control, which includes speed, accuracy, and load characteristics. A few intuitive benefits of the servos in XGO-mini compared to the servos in XGO-lite:

1) Greater Durability: Longer use before a servo will fail; 2) Faster Robot Action: All movements should be noticeably faster; 3) Greater Payload Capacity: Although the mini weighs more it has significantly more payload capacity; 4) Higher control accuracy: mini has a smoother movement; 5) Compact wiring arrangement: mini servos allow a daisy-chain wiring connection, which makes the wiring arrangement more compact. 6) Lower noise: Due to the lower ratio and better gears, the joint transmission efficiency of mini is higher and the noise is lower.