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■ Basic Features The DYNAMIXEL X-Series is a new line-up of high performance networked actuators. For more detailed information, please visit the DYNAMIXEL X-Series Product Information page. • 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-W210-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 ■ H/W Specifications Model Number XH430-W210-R Weight (g) 82g Dimensions (mm) 28.5mm x 46.5mm x 34mm Gear Ratio 212.6 : 1 Operation Voltage (V) 11.1 12 14.8 Stall Torque (N.m) 2.2 2.5 3.1 Stall Current (A) 1.2 1.3 1.5 No Load Speed (RPM) 46 50 62 MCU ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT) Position Sensor Contactless absolute encoder (12BIT,360°) by AMS Motor Maxon Motor Resolution 0.088° x 4,096 steps Operating Range Current Control Mode : Endless turnVelocity Control Mode : Endless turnPosition Control Mode : 360[deg]Extended Control Mode : ±256[rev] Current-based Position Control Mode : ±256[rev] PWM Control Mode : Endless turn Input Voltage (V) 10~14.8V (Recommended voltage : 12V) Operating Temperature (°C) -5°C ~ 80°C Command Signal Digital Packet Protocol Type Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity) Link (physical) TTL Level Multi Drop Bus ID 253 ID (0~252) Baud Rate 9600 bps ~ 4.5 Mbps Feedback Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc. Standby current (mA) Case : Metal (Front, Middle) Engineering Plastic (Back) Gear : Full Metal Standby current 40 mA ■ Default Settings ID : 1 Baud Rate : 57600bps *Please make necessary modifications to ID, baud rate, etc. after purchase. **PC Interface : USB2Dynamixel (Molex-JST Convertible Cable is required) ■ Hyperlinks Frame, Horn, Bearing Compatible Compatible Chart : Click Here Controller Compatibility Chart : Click Here Download Drawing : Click Here Dynamixel SDK : Click Here OpenCM IDE : Click Here Software RoboPlus (R+) : Click Here Link to e-Manual : Click Here ■ Caution The DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication. For more information, please see the [DYNAMIXEL Connector Standard] page on the e-Manual. To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package. DYNAMIXEL XH430-W210-R. The DYNAMIXEL X-Series is a new line-up of high performance networked actuators. Improved Torque, Compact Design, Enhanced Durability and Expandability.
■ Basic Features The DYNAMIXEL X-Series is a new line-up of high performance networked actuators. For more detailed information, please visit the DYNAMIXEL X-Series Product Information page. • 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-W210-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 ■ H/W Specifications Model Number XH430-W210-R Weight (g) 82g Dimensions (mm) 28.5mm x 46.5mm x 34mm Gear Ratio 212.6 : 1 Operation Voltage (V) 11.1 12 14.8 Stall Torque (N.m) 2.2 2.5 3.1 Stall Current (A) 1.2 1.3 1.5 No Load Speed (RPM) 46 50 62 MCU ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT) Position Sensor Contactless absolute encoder (12BIT,360°) by AMS Motor Maxon Motor Resolution 0.088° x 4,096 steps Operating Range Current Control Mode : Endless turnVelocity Control Mode : Endless turnPosition Control Mode : 360[deg]Extended Control Mode : ±256[rev] Current-based Position Control Mode : ±256[rev] PWM Control Mode : Endless turn Input Voltage (V) 10~14.8V (Recommended voltage : 12V) Operating Temperature (°C) -5°C ~ 80°C Command Signal Digital Packet Protocol Type Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity) Link (physical) TTL Level Multi Drop Bus ID 253 ID (0~252) Baud Rate 9600 bps ~ 4.5 Mbps Feedback Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc. Standby current (mA) Case : Metal (Front, Middle) Engineering Plastic (Back) Gear : Full Metal Standby current 40 mA ■ Default Settings ID : 1 Baud Rate : 57600bps *Please make necessary modifications to ID, baud rate, etc. after purchase. **PC Interface : USB2Dynamixel (Molex-JST Convertible Cable is required) ■ Hyperlinks Frame, Horn, Bearing Compatible Compatible Chart : Click Here Controller Compatibility Chart : Click Here Download Drawing : Click Here Dynamixel SDK : Click Here OpenCM IDE : Click Here Software RoboPlus (R+) : Click Here Link to e-Manual : Click Here ■ Caution The DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication. For more information, please see the [DYNAMIXEL Connector Standard] page on the e-Manual. To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.
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