DYNAMIXEL X Series

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Product Name:2XL430-W250-T
Product Code:902-0156-000
Availability:Yes
  
Product description:

 
 
 
 
Features
 
 
 
DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.
       
The DYNAMIXEL 2XL series can control two axis with a single module, so it can be effectively applied to robot`s neck, shoulder, hip, wrist, and ankle. The 2XL series 
adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure and Metal gear (Powder Metallurgy) is used for high durability. High compatibility with XL430, XM430, XH430. 
 
                
 

1. Various Operating Mode

Velocity Control, Position Control, Extended Position Control, PWM Control
 
2. Profile Control for Smooth Motion Planning
 
3. Hollow Back Case Minimizes Cable Stress
 
4. Direct Screw Assembly to the Case (Some parts)

5. Energy Saving with Reduced Current

         
 
 
Package Components
 
<> 
2XL430-W250-T 1
Robot Cable-X3P 180mm 1
Bolt M2.5x5 10
Bolt M2x5 10
* Idler Set(HN11-I101 Set) for assembling hinge frames are not included.
 
 
 
Compatible Products
 
Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0, CM-550

Interface : USB2Dynamixel, U2D2


       
Factory Default Settings
ID(A) : 1

ID(B) : 2

Baud Rate : 57600bps

(User can change various settings including ID and baud rate according to environment)

 
 
 
Various Cabling Methods
 
 
Performance Comparison
  
Cautions
     
  1. DYNAMIXEL-X Series cable assembly through hollow case
  2. Organize the entangled cable before assembling the back case.
  3. Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error.
  4. The DYNAMIXEL-X Series adopted a new gold-plated JST connector for secure and reliable communication.
  5. The connector used for previous Dynamixel is Molex.
  6. Molex-JST conversion cable is not included with the purchase of 2XL430 Dynamixel, so you must purchase Molex-JST conversion cable separately to connect to the existing controller (OpenCM 485 expansion board, USB2Dynamixel).
       
Specification
 

Model Name

2XL430-W250-T

MCU

Cortex-M3 (72 [Mhz], 32 [bit])

Input Voltage

Min. [V]

6.5

Recommended [V]

11.1

Max. [V]

12.0

Performance Characteristics

Voltage [V]

11.1

Stall Torque [N·m]

1.40

Stall Current [A]

1.3

No Load Speed [rpm]

57.0

No Load Current [A]

0.05

Continuous Operation

Voltage [V]

-

Torque [N·m]

-

Speed [rpm]

-

Current [A]

-

Resolution

Resolution [deg/pulse]

0.0879

Step [pulse]

4,096

Angle [degree]

360

Position Sensor

Contactless absolute encoder (12Bit, 360 [deg])
Maker : ams(www.ams.com), Part No : AS5601

Operating Temperature

Min. [°C]

-5

Max. [°C]

72

Motor

Cored

Baud Rate

Min. [bps]

9,600

Max. [bps]

4,500,000

Control Algorithm

PID

Gear Type

Spur

Gear Material

Powder-Metallurgy

Case Material

Engineering Plastic

Dimensions (WHD) [mm]

36 X 46.5 X 36

Dimensions (WHD) [inch]

1.4 X 1.83 X 1.41

Weight [g]

98.20

Weight [oz]

3.46

Gear Ratio

257 : 1

Command Signal

Digital Packet

Protocol Type

Half duplex Asynchronous
Serial Communication (8bit, 1stop, No Parity)

Link (Physical)

TTL Level Multi Drop Bus

ID

0 ~ 253

Feedback

Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc

Protocol version

1.0
2.0(Default)

Operating Mode / Angle

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

Output [W]

-

Standby Current [mA]

49

  
 




902-0156-000-2XL430-W250-T