Robotis - Dynamixel XH430-W350-T
The DYNAMIXEL X-Series is a new line-up of high performance networked actuators.
Features:
- 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)
Various Cabling Methods
Key Names
Model Numbering
PACKAGE CONTENTS
DYNAMIXEL | XH430-W350-T | 1 |
HORN | HN12-N101 | 1 |
WASHER | Teflon Washer (for Horn Assembly) | 1 |
CABLE | Robot Cable-X4P 180mm | 1 |
CABLE | Robot Cable-X4P (Convertible) 180mm | 1 |
BOLT/NUT | Wrench Bolt (WB M2.5*4) | 16 |
BOLT/NUT | Wrench Bolt (WB M2.5*6) | 1 |
BOLT/NUT | Wrench Bolt (WB M2*3) | 10 |
ETC | Spacer Ring | 8 |
Specifications:
Model Number | XH430-W350-T | ||
Weight (g) | 82g | ||
Dimensions (mm) | 28.5mm x 46.5mm x 34mm | ||
Gear Ratio | 353.5 : 1 | ||
Operation Voltage (V) | 11.1 | 12 | 14.8 |
Stall Torque (N.m) | 3.1 | 3.4 | 4.2 |
Stall Current (A) | 1.2 | 1.3 | 1.5 |
No Load Speed (RPM) | 27 | 30 | 37 |
| |||
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 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. | ||
Material | 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.