Dynamixel XH430-W350-R

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The DYNAMIXEL X-Series is a new line-up of high performance networked actuators. Improved Torque, Compact Design Enhanced Durability and Expandability Hollow Back Case Minimizes Cable Stress (3-Way Wiring) Frames Directly Screwed onto the Case (No Nuts Needed) Improved Aluminum Case Heat Sink 6 Operating Modes Current-Based Torque Control (4096 steps, 2.69mA/step) Profile Control for Smooth Motion Planning Trajectory Data and Moving Status (In-Position, Following Error, etc.) Energy Efficient (Standby Current Reduced from 100mA to 40mA) Package Contents Description Quantity DYNAMIXEL XH430-W350-R 1 Horn HN12-N101 1 Washer Teflon Washer (for Horn Assembly) 1 CABLE Robot Cable-X4P 180mm 1 Robot Cable-X4P (Convertible) 180mm 1 BOLT/NUT Wrench Bolt (WB M2.5*4 16 Wrench Bolt (WB M2.5*6) 1 Wrench Bolt (WB M2*3) 10 ETC Spacer Ring 8 Specifications Model Number XH430-W350-R Weight (g) 82 Dimensions (mm) 28.5 x 46.5 x 34 Gear Ratio 353.5 : 1 Operating Voltage 11.1 / 12 / 14.8 Stall Torque (N.m) 3.1 @ 11.1V3.4 @ 12V4.2 @ 14.8V Stall Current (A) 1.2 @ 11.1V1.3 @ 12V1.5 @ 14.8V No Load Speed (rpm) 27 @ 11.1V30 @ 12V37 @ 14.8V MCU ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT) Position Sensor Contactless absolute encoder (12BIT, 360º) by AMS Motor Maxon Motor Resolution 0.088º x 4096 steps Operating Range Current control mode: Endless turnVelocity control mode: Endless turnPosition control mode: 360 degExtended Control Mode: +-256 revolutionsCurrent-based Position Control Mode: +-256 revolutionsPWM Control Mode: Endless turn Input Voltage (V) 10~14.8 (recommended: 12) Operating Temperature (ºC) -5 ~ 80 Command Signal Digital Packet Protocol Type RS485 Asynchronous Serial Communication (8bit, No Parity, 1 stop) Link (Physical) RS485 Multidrop Bus (Daisy Chain) ID 253 (0~252) Baud Rate 9600 bps to 4.5 Mbps Feedback Position, Velocity, Current, Real-Time Tick, Trajectory, Temperature, Imput Voltage Material Case: Metal (Front, Middle) / Engineering Plastic (Back)Gear: Metal Standby current (mA) 40 Default Settings ID: 1 Baud Rate: 57600bps *Please make necessary modifications to ID, baud rate, etc. after purchase. Package Contents 1 x DYNAMIXEL XH430-W350-R 1 x HORN HN12-N101 1 x Teflon Washer (for Horn Assembly) 1 x Robot Cable-X4P 180mm 1 x Robot Cable-X4P (Convertible) 180mm 16 x Wrench Bolt (WB M2.5*4) 1 x Wrench Bolt (WB M2.5*6) 10 x Wrench Bolt (WB M2*3) 8 x Spacer Ring