DYNAMIXEL X Series

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Product Name:XM430-W210-R
Product Code:902-0119-000
Availability:Yes
  
Product description:

XM430-W210-R

 

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-XH / XM Series offers a variety of control techniques based on high-performance current sensing algorithms.

It adopts the aluminium case and adopts the new technology such as the hollow cable fastening structure for users’ convenience.

1. 6 Operating Modes

Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control

2. Profile Control for Smooth Motion Planning

3. Improved Heat Sink Featuring an Aluminium Case

4. Hollow Back Case Minimizes Cable Stress (3-way-routing)

5. Direct Screw Assembly to the Case (without Nut Insert)

6. Energy Saving (Reduced Current from 100mA to 40mA)

7. 31% reduced volume compared to the previous model

Package Components

XM430-W210-R

1

HN12-N101

1

Teflon Washer (for Horn Assembly)

1

Robot Cable-X4P 180mm

1

Robot Cable-X4P (Convertible) 180mm

1

Wrench Bolt (WB M2.5*4)

16

Wrench Bolt (WB M2.5*6)

1

Wrench Bolt (WB M2*3)

10

Spacer Ring

8

Compatible Products

Controller : OpenCM 485 Expansion Board, OpenCR1.0

Interface : USB2Dynamixel, U2D2

Factory Default Settings

ID : 1

Baud Rate : 57600bps

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

Various Cabling Methods

 

Caution

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. If you use two cables through the hollow case, the cables will be damaged.

5. Use only one cable through the hollow case.

6. The DYNAMIXEL-X Series adopted a new gold-plated JST connector for secure and reliable communication.

7. The connector used for previous DYNAMIXEL is Molex.

8. To control DYNAMIXEL-X Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.

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

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

Controller Model

Controller Connector

Cable

DYNAMIXEL X

Connector

DYNAMIXEL

Communication

OpenCM+485 Expansion Board

Molex (3P, 4P)

Robot Cable-X3P 180mm (Convertible)

JST-3P

TTL

USB2Dynamixel

Molex (3P, 4P)

Robot Cable-X3P 180mm (Convertible)

JST-3P

TTL

OpenCR1.0

JST (3P, 4P)

Robot Cable-X3P (by length)

JST-3P

TTL

U2D2

JST (3P, 4P)

Robot Cable-X3P (by length)

JST-3P

TTL

OpenCM+485 Expansion Board

Molex (3P, 4P)

Robot Cable-X4P 180mm (Convertible)

JST-4P

RS-485

USB2Dynamixel

Molex (3P, 4P)

Robot Cable-X4P 180mm (Convertible)

JST-4P

RS-485

OpenCR1.0

JST (3P, 4P)

Robot Cable-X4P (by length)

JST-4P

RS-485

U2D2

JST (3P, 4P)

Robot Cable-X4P (by length)

JST-4P

RS-485

 

 

Specification

Model Name

XM430-W210-R

MCU

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

Input Voltage

Min. [V]

10.0

Recommended [V]

12.0

Max. [V]

14.8

Performance Characteristics

Voltage [V]

12.0

Stall Torque [N·m]

3.00

Stall Current [A]

2.3

No Load Speed [rpm]

77.0

No Load Current [A]

0.07

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 (12 [bit], 360 [deg])
Maker : ams(www.ams.com), Part No : AS5045

Operating Temperature

Min. [°C]

-5

Max. [°C]

80

Motor

Coreless

Baud Rate

Min. [bps]

9,600

Max. [bps]

4,500,000

Control Algorithm

PID

Gear Type

Spur

Gear Material

Precious Metal

Case Material

Precious Metal(Front, Middle)
Engineering Plastic(Back)

Dimensions (WHD) [mm]

28.5 X 46.5 X 34.0

Dimensions (WHD) [inch]

1.12 X 1.83 X 1.34

Weight [g]

82.00

Weight [oz]

2.89

Gear Ratio

212.6 : 1

Command Signal

Digital Packet

Protocol Type

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

Link (Physical)

RS485 Multi Drop Bus

ID

0 ~ 252

Feedback

Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, etc.

Protocol version

1.0
2.0(Default)

Operating Mode / Angle

Current Control modeEndless turn
Velocity Control mode
Endless turn
Position Control Mode
360 [deg]
Extended Position Control Mode
±256 [rev]
Current-based Position Control Mode
±256 [rev]
PWM Control Mode
Endless turn

Output [W]

-

Standby Current [mA]

40

Links

e-Manual

Drawing

Software

Compatibility Guide

Selection Guide

DYNAMIXEL SDK





902-0119-000-XM430-W210-R