Servomotor Dynamixel XL430-W250-T

Robotis Dynamixel Servomotor XL430-W250-T 

DYNAMIXEL is an intelligent robot-exclusive actuator with a fully integrated DC motor + reduction gearbox + controller + pilot + network in a DC servo module.

The DYNAMIXEL XL series adopts new features that allow a 360-degree control mode thanks to its non-contact magnetic encoder and hollow back assembly structure. The XL series has the same mechanical structure as the XM430 and XH430 and is compatible with the respective models.

To know all the specificities of the Robotis XL430-W250-T dynamic servo motor, consult its dedicated sheet on the official website​ HERE.

1. Different operating modes
2. Speed control, Position control, Extended position control, Extended position control, Extended position control, PWM control
3. Profile control for smooth movement planning
4. Hollow back case to minimize cable tension (three-way routing)
5. Direct screw mounting on the housing (without nut)
6. Energy saving with reduced current

Dynamixel XL430-W250-T Servomotor: specs

• Model Name XL430-W250-T
• MCU Cortex-M3 (72 [Mhz], 32 [bit])
• Input Voltage Min. [V] 6.5 / Recommended [V] 11.1 / Max. [V] 12.0
• Performance Characteristics Voltage [V] 12.0 / Stall Torque [N·m] 1.50 / Stall Current [A] 1.4 / No Load Speed [rpm] 61.0 / No Load Current [A] 0.15
• 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] 72
• Motor Cored
• Baud Rate Min. [bps] 9,600 / Max. [bps] 4,500,000
• Control Algorithm PID
• Gear Type Spur
• Gear Material Engineering Plastic
• Case Material Engineering Plastic
• Dimensions (WⅹHⅹD) [mm] 28.5 X 46.5 X 34.0
• Dimensions (WⅹHⅹD) [inch] 1.12 X 1.83 X 1.34
• Weight [g] 57.20
• Weight [oz] 2.02
• Gear Ratio 258.5 : 1
• Command Signal Digital Packet
• Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
• Link (Physical) TTL Level Multi Drop Bus
• ID 0 ~ 252
• Feedback Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc
• Protocol version 1.0 / 2.0 (Default)
• Operating Mode / Angle Velocity Control mode：Endless turn / Position Control Mode：360 [deg] / Extended Position Control Mode：±256 [rev] / PWM Control Mode：Endless turn
• Output [W] -
• Standby Current [mA] 52

Compatibilities​

• Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0
• Interface : USB2Dynamixel, U2D2

Check the Robotis Dynamixel compatibility table​ ICI.

Caution

• DYNAMIXEL X-Series through a hollow housing
• Organize the entangled cable before assembling the rear box.
• Do not assemble the rear housing with a tangled cable. The tangled cable may be crushed by the housing and cause a communication error.
• If you use two cables through the hollow housing, the cables will be damaged.
• Use only one cable through the hollow housing.
• The DYNAMIXEL X-Series has adopted a new gold-plated JST connector for safe and reliable communication.
• The connector used for the previous Dynamixel is Molex.
• To order DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex convertible cable provided in the package.