DYNAMIXEL XC430-W240-T
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- Order number: ROBT-902-0147-000
- Manufacturer product ID: 902-0147-000
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 XC 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.
- XC430 is a high performance version of XL430 (Entry-level DYNAMIXEL), that can be applied to robots that require stronger torque.
Metal gears are adopted to enhance its durability.
1. Various Operating Modes
Velocity Control, Position Control, Extended Position Control, PWM Control
2. Profile Control for Smooth Motion Planning
3. Hollow Back Case Minimizes Cable Stress (3-way-routing)
4. Direct Screw Assembly to the Case (without Nut Insert)
5. Energy Saving with Reduced Current
Specifications
| Model Name | XC430-W240-T | |
|---|---|---|
| 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] | 1.90 | |
| Stall Current [A] | 1.4 | |
| No Load Speed [rpm] | 70.0 | |
| No Load Current [A] | 0.06 | |
| 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] | 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 | Engineering Plastic | |
| Dimensions (WⅹHⅹD) [mm] | 28.5 X 46.5 X 34.0 | |
| Dimensions (WⅹHⅹD) [inch] | 1.12 X 1.83 X 1.34 | |
| Weight [g] | 65.00 | |
| Weight [oz] | 2.29 | |
| Gear Ratio | 245.2:1 | |
| Command Signal | Digital Packet | |
| Protocol Type | Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity) | |
| Link (Physical) | TTL Level Multi Drop Bus | |
| ID | 0 ~ 252 | |
| 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] | 46 | |
Package Components
| XC430-W240-T | 1 |
|---|---|
| HN11-N101 (Assembled) | 1 |
| Robot Cable-X3P 180mm | 1 |
| Bolt M2.6x5 TAP | 5 |
| Bolt M2x5 | 5 |
| Bolt PHS M2.5x14 | 5 |
| Spacer | 5 |
Not included Idler Set (HN11-i101 Set)
Compatible products
Controller : OpenCM9.04 485 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
Performance Comparison
Caution
DYNAMIXEL X-Series cable assembly through hollow case
Organize the entangled cable before assembling the back case.
Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error.
If you use two cables through the hollow case, the cables will be damaged.
Use only one cable through the hollow case.
The DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication.
The connector used for previous Dynamixel is Molex.
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 Model | Controller Connector | Cable | DynamixelX 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 |
