he DYNAMIXEL XM430-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 XM430-W210-R has the highest RPM rating in the 430 series in the X-Series line, making it well suited for robotic tasks requiring the highest speed.
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.
Features
- 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 XM430-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)
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Model Number
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XM430-W210-R
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Weight
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82g
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Dimension
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28.5mm x 46.5mm x 34mm
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Gear Ratio
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212.6 : 1
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Operation Voltage (V)
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11.1
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12
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14.8
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Stall Torque (N.m)
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2.7
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3.0
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3.7
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Stall Current (A)
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2.1
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2.3
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2.6
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No Load Speed (RPM)
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70
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77
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95
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MCU
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ST CORTEX-M3 ( STM32F103C8 @ 72MHZ, 32BIT)
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Position Sensor
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Contactless absolute encoder (12bit, 360degree) by AMS
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Motor
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Coreless Motor
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Resolution
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Approx. 0.088° x 4,096
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Position Control Mode : 360°
Extended Position Control Mode : 512 turns
Velocity Control Mode : Endless turn
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Operation Voltage
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10~14.8V (Recommended voltage : 12V)
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Operating Temperature
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-5°C ~ 80°C
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Command Signal
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Digital Packet
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Protocol Type
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RS485 Asynchronous Serial Communication (8bit, 1stop, No Parity)
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Link (physical)
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RS485 Multi Drop Bus (daisy chain type connector)
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ID
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253 ID (0~252)
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Baud Rate
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9600 bps ~ 4.5 Mbps
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Feedback
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Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
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Material
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Case : Metal (Front, Middle)
Engineering Plastic (Back)
Gear : Full Metal
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Standby current
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40 mA
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Documentation and Downloads: