Dynamixel XL430-W250-T

SKU
R-902-0135-000
Brand
Robotis
Quick Overview
The Dynamixel XL series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure. The XL series has the same mechanical structure as the XM430 and XH430 and is compatible with the respective models.
£46.80 £39.00

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The DYNAMIXEL X-Series is a new line-up of high performance networked actuators.

The Dynamixel XL series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure. The XL series has the same mechanical structure as the XM430 and XH430 and is compatible with the respective models.

  • 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)
  • 6 Operating Modes
  • Profile Control for Smooth Motion Planning
  • Energy Efficient with Improved Operation Time

Package Contents

ItemQuantity
XL430-W250-T Servo1
HN11-N101 Horn (pre assembled)1
Robot Cable-X3P 180mm Cable1
M2.6x5 Tap bolt5
M2x5 bolt5
Spacer Ring5

Hardware Specifications

Model NameXL430-W250-T
Weight (g)57.2
Dimension (mm)28.5 x 46.5 x 34
Gear Ratio258.5 : 1
Operation Voltage (V)9.011.112.0
Stall Torque (N.m)1.01.41.5
Stall Current (A)1.01.31.4
No Load Speed (RPM)475761
MCUST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT)
Position SensorContactless absolute encoder (12BIT,360°) by AMS
MotorCored
Resolution0.088° x 4,096 steps
Operating Range

Velocity Control Mode : Endless turn
Position Control Mode : 360[deg]
Extended Control Mode : ±256[rev] 
PWM Control Mode : Endless turn

Input Voltage (V)6.5~12.0V (Recommended voltage : 11.1V)
Operating Temperature-5°C ~ 72°C
Command SignalDigital Packet
Protocol TypeHalf duplex Asynchronous Serial Communication (8bit,1stop, No Parity)
Link (physical)TTL Level Multi Drop Bus
ID253 ID (0~252)
Baud Rate9600 bps ~ 4.5 Mbps
FeedbackPosition, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
MaterialCase : Engineering Plastic Gear : Engineering Plastic
Standby current (mA)52

Default Settings

ID: 1

Baud Rate: 57600bps

*Please make necessary modifications to ID, baud rate, etc. after purchase.

Different Cabling Setup

Links and Downloads

Frame, Horn, Bearing 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

Must Read!

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.

However, the Molex-JST convertible cable is NOT included in the XL430 model.

Please purchase a convertible cable when using a controller and interface that supports the JST connector.

Controller / Interface Board

Connectors

Cable

Dynamixel X Connectors

Communication

OpenCM+485 Expansion Board USB2Dynamixel

Molex (3P, 4P)

Robot Cable-X3P 180mm (Convertible)

JST-3P

TTL

OpenCR1.0 U2D2

JST (3P, 4P)

Robot Cable -X3P (by length)

JST-3P

TTL

OpenCM+485 Expansion Board
USB2Dynamixel

Molex (3P, 4P)

Robot Cable -X3P 180mm (Convertible)

JST-4P

RS-485

OpenCR1.0
U2D2

JST (3P, 4P)

Robot Cable -X3P (by length)

JST-4P

RS-485

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