Servomotor Dynamixel XH430-W210 T/R

Robotis Servomotor Dynamixel XH430-W210 T and R

DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module. The DYNAMIXEL XH / XM-Series offers a variety of control techniques based on high-performance current sensing algorithms.

It adopts the aluminum case and adopts the new technology such as the hollow cable fastening structure for users’ convenience.

To know all the specificities of the Robotis dynamixel servomotor XH430-W210 T & R, consult its dedicated sheet on the official website​ HERE.

• 6 Operating Modes  
• Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control
• Profile Control for Smooth Motion Planning
• Improved Heat Sink Featuring an Aluminum Case
• Hollow Back Case Minimizes Cable Stress (3-way-routing)
• Direct Screw Assembly to the Case (without Nut Insert)
• Energy Saving (Reduced Current from 100mA to 40mA)
• 31% reduced volume compared to the previous model

Robotis Dynamixel XH430-W210: specificities

• Model Name XH430-W210-T or XH430-W210-R
• MCU Cortex-M3 (72 [Mhz], 32 [bit])
• Input Voltage Min. [V] 10.0 / Recommended [V] 12.0 / Max. [V] 14.8
• Performance Characteristics Voltage [V] 12.0 / Stall Torque [N·m] 2.50 / Stall Current [A] 1.3 / No Load Speed [rpm] 50.0 / No Load Current [A] 0.07
• Continuous Operation Voltage [V] - / Torque [N·m] - / Speed [rpm] - / Current [A] -
• Resolution Resolution [deg/pulse] 0.0879 / Step [pulse] 4,096 / Angle [degree] 360
• Position Sensor Contactless absolute encoder (12 [bit], 360 [deg]) / Maker : ams(www.ams.com), Part No : AS5045
• Operating Temperature Min. [°C] -5 / Max. [°C] 80
• Motor Coreless (Maxon)
• Baud Rate Min. [bps] 9,600 / Max. [bps] 4,500,000
• Control Algorithm PID
• Gear Type Spur
• Gear Material Precious Metal
• Case Material Precious Metal(Front, Middle) / Engineering Plastic(Back)
• Dimensions (WⅹHⅹD) [mm] 28.5 X 46.5 X 34.0
• Dimensions (WⅹHⅹD) [inch] 1.12 X 1.83 X 1.34
• Weight [g] 82.00
• Weight [oz] 2.89
• Gear Ratio 212.6 : 1
• Command Signal Digital Packet
• Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
• Link (Physical) TTL Level Multi Drop Bus (Model T) / RS485 Multi Drop Bus (Model R)
• ID 0 ~ 252
• Feedback Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, etc.
• Protocol version 1.0 / 2.0 (Default)
• Operating Mode / Angle Current Control mode：Endless turn / Velocity Control mode：Endless turn / Position Control Mode：360 [deg] / Extended Position Control Mode：±256 [rev] / Current-based Position Control Mode：±256 [rev] / PWM Control Mode：Endless turn
• Output [W] -
• Standby Current [mA] 40

Compatibilities

• Controller : OpenCM 485 Expansion Board, OpenCR1.0
• Interface : USB2Dynamixel, U2D2

Check the Dynamixel compatibility table Robotis HERE.

Caution

• DYNAMIXEL X-Series cable assembly through hollow case
• Organize the entangled cable before assembling the back case.
• Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error.
• If you use two cables through the hollow case, the cables will be damaged.
• Use only one cable through the hollow case.
• The DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication.
• The connector used for previous Dynamixel is Molex.
• To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.