Features
- Improved Torque, Compact Size
- Enhanced Durability and Expandability
- Hollow Back Case Minimizes Cable Stress (3-way-routing)
- Direct Screw Assembly to the Case(without Nut Insert)
- Improved Heat Sink Featuring an Aluminum Case
- 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 Saving (Reduced Current from 100mA to 40mA)
Package Contents
Description | Quantity | |
DYNAMIXEL | XM430-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*8) | 1 | |
Wrench Bolt (WB M2*3) | 10 | |
ETC | Spacer Ring | 8 |
Hardware Specification
Model Number | XM430-W350-R | ||
Weight | 82g | ||
Dimension | 28.5mm x 46.5mm x 34mm | ||
Gear Ratio | 353.5 : 1 | ||
Operation Voltage (V) | 11.1 | 12 | 14.8 |
Stall Torque (N.m) | 3.8 | 4.1 | 4.8 |
Stall Current (A) | 2.1 | 2.3 | 2.6 |
No Load Speed (RPM) | 43 | 46 | 57 |
| |||
MCU | ST CORTEX-M3 ( STM32F103C8 @ 72MHZ, 32BIT) | ||
Position Sensor | Contactless absolute encoder (12bit, 360degree) by AMS | ||
Motor | Coreless Motor | ||
Resolution | Approx. 0.088° x 4,096 | ||
Operation Range | Position Control Mode : 360° Extended Position Control Mode : 512 turns Velocity Control Mode : Endless turn | ||
Operation Voltage | 10~14.8V (Recommended voltage : 12V) | ||
Operating Temperature | -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 : Full Metal | ||
Standby current | 40 mA | ||
Default Settings
- ID : 1
- Baud Rate : 57,600bps
(Please make necessary modifications after purchase. Such as the ID, baud rate, etc)
Compatible Devices
- Embedded Board : OpenCM9.04 + 485 Expansion Board
- PC Interface : USB2Dynamixel (Molex-JST Convertible Cable is required)
Development Environment
- GUI Software : RoboPlus 2.0 (Task / Motion / Manager) : download
- OpenCM IDE : download
- SDK : download
- Drawings : download
- E-manual : link
PLEASE NOTE
DYNAMIXEL X-Series adopted new JST connector with gold plating for secure and reliable communication.
For more information, please visit e-Manual [DYNAMIXEL Connector Standard]
To control DYNAMIXEL X-Series via OpenCM or USB2Dynamixel, please use JST-Molex Convertible Cable enclosed in the package.
