Item #: RO-902-0121-000
Availability: Special Order
Price: $305.90


    he DYNAMIXEL XH430-W210-R is a High Performance RS-485 Servo in the DYNAMIXEL X-Series. Using the Same form factor as the other 430 series servos in the X-Series line, the DYNAMIXEL XH430-W210-R has a well balanced Stall Torque versus Speed rating, making it suitable for a wide variety of robotic tasks.

    DYNAMIXEL X-Series is a new line-up of high performance networked actuator module, which has been widely used for building multi-joint robots with reliability and expandability.

    • 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

    • 1x XH430-W210-R
    • 1x HN12-N101
    • 1x Teflon Washer (for horn assembly
    • 1x Robot Cable-X4P 180mm
    • 1x Robot Cable-X4P Convertible 180mm
    • 16x M2.5 * 4 Bolt
    • 1x M2.5 * 6 Bolt
    • 10x M2 * 3 Bolt
    • 8x Spacer Ring

    Compatible Devices

    • Embedded Board : OpenCM9.04 + 485 Expansion Board
    • PC Interface : USB2Dynamixel (Molex-JST Convertible Cable is required)
    DYNAMIXEL XH430-W210-R
    Model Number XH430-W210-R
    Weight 82g
    Dimension 28.5mm x 46.5mm x 34mm
    Gear Ratio 212.6 : 1
    Operation Voltage (V) 11.1 12 14.8
    Stall Torque (N.m) 2.2 2.5 3.1
    Stall Current (A) 1.2 1.3 1.3
    No Load Speed (RPM) 46 50 62
    MCU ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT)
    Position Sensor Contactless absolute encoder (12BIT,360도) by AMS
    Motor Maxon Motor
    Resolution Approx. 0.088° x 4,096
    Operation Range Position Control Mode : 360°
    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

    Documentation and Downloads: