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-V350-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-V350-R |
Weight (g) | 82g |
Dimensions (mm) | 28.5mm x 46.5mm x 34mm |
Gear Ratio | 212.6 : 1 |
Operation Voltage (V) | 24 |
Stall Torque (N.m) | 3.3 |
Stall Current (A) | 0.7 |
No Load Speed (RPM) | 31 |
MCU | ST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT) |
Position Sensor | Contactless absolute encoder (12BIT,360°) by AMS |
Motor | Maxon Motor |
Resolution | About 0.088° x 4,096 |
Operating Range | Current Control Mode : Endless turn |
Input Voltage (V) | 24V (Recommended voltage : 24V) |
Operating Temperature (°C) | -5°C ~ 80°C |
Command Signal | Digital Packet |
Protocol Type | RS485 Asynchronous Serial Communication (8bit,1stop, No Parity) |
Link (physical) | RS485 Multi Drop Bus (daisy chain type connector) |
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 : Metal |
Standby current | 36 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.