XD430-T210-R
- Order number: ROBT-902-0179-000
- Manufacturer product ID: 902-0179-000
Features:
DYNAMIXEL-XD series is a high-performance lineup specially designed for industrial applications. The XD series shares an identical form factor with the XH/XM series and has long lifetime with a robust metal gear. The aluminum housing and the hollow cable assembly technique are adopted to maximize user 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 Dissipation with Aluminum Housing 4. Hollow Back Housing Minimizes Cable Stress (3-way-routing) 5. Easy and Simple Assembly Structure 6. Energy Efficient (Reduced Standby Current from 100mA to 40mA)
Package Components:
| Item | Quantity | Description |
|---|---|---|
| XD430-T210-R | 1 | DYNAMIXEL |
| HN12-N101 | 1 | XD430 standard horn |
| Thrust Washer (for Horn Assembly) | 1 | Preventing friction between horn and case |
| Robot Cable-X4P 180mm | 1 | RS485 4p Cable (JST-JST) |
| Robot Cable-X4P (Convertible) 180mm | 1 | RS485 4p Cable (MOLEX-JST) |
| Wrench Bolt WB M2x3 | 10 | Cable for Dual Joints |
| Wrench Bolt WB M2.5x4 | 16 | For frame assembly (Side hole) |
| Wrench Bolt WB M2.5x6 | 1 | For horn assembly (compatible with XH430 standard horn) |
| Wrench Bolt WB M3x6 | 1 | For XD430 horn assembly |
| Spacer Ring | 8 | For frame assembly |
Various Cabling Methods:
Performance Comparison:
Caution:
| 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 |
Specification:
| Model Name | XD430-T210-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] | 2.50 | |
| Stall Current [A] | 1.3 | |
| No Load Speed [rpm] | 50.0 | |
| 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/rev] | 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 (Maxon) | |
| Baud Rate | Min. [bps] | 9,600 |
| Max. [bps] | 4,500,000 | |
| Control Algorithm | PID | |
| Gear Type | Spur | |
| Gear Material | Metal | |
| Case Material | Metal(Front, Middle) Engineering Plastic(Back) | |
| Dimensions (WⅹHⅹD) [mm] | 28.5 X 46.5 X 34.0 | |
| Dimensions (WⅹHⅹD) [inch] | 1.12 X 1.83 X 1.34 | |
| Weight [g] | 85.00 | |
| Weight [oz] | 2.99 | |
| 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 Type | Protocol 1.0 Protocol 2.0(Default) | |
| Operating Mode / Angle | Current Control mode：Endless 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 | |
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