XM430-W350-T
Basic Features
The DYNAMIXEL X-Series is a new line-up of high performance networked actuators.
For more detailed information, please visit the DYNAMIXEL X-Series Product Information page.
• Improved Torque, Compact Design
• Enhanced Durability and Expandability
• Hollow Back Case Minimizes Cable Stress (3-Way Wiring)
• Frames Directly Screwed onto the Case (No Nuts Needed)
• Improved Aluminum Case Heat Sink
• 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 Efficient (Standby Current Reduced from 100mA to 40mA)
Various Cabling Methods
Key Names
Model Numbering
Package Contents
Description
|
Quantity
|
DYNAMIXEL
|
XM430-W350-T
|
1
|
HORN
|
HN12-N101
|
1
|
WASHER
|
Teflon Washer (for Horn Assembly)
|
1
|
CABLE
|
Robot Cable-X3P 180mm
|
1
|
Robot Cable-X3P
(Convertible) 180mm
|
1
|
BOLT/NUT
|
Wrench Bolt (WB M2.5*4)
|
16
|
Wrench Bolt (WB M2.5*6)
|
1
|
Wrench Bolt (WB M2*3)
|
10
|
ETC
|
Spacer Ring
|
8
|
H/W Specifications
Model Number
|
XM430-W350-T
|
Weight (g)
|
82g
|
Dimensions (mm)
|
28.5mm x 46.5mm x 34mm
|
Gear Ratio
|
353.5 : 1
|
Operation Voltage (V)
|
11.1
|
12
|
14.8
|
Stall Torque (N.m)
|
3.8
|
4.1
|
4.8
|
Stall Current (A)
|
2.1
|
2.3
|
2.7
|
No Load Speed (RPM)
|
43
|
46
|
57
|
|
MCU
|
ST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT)
|
Position Sensor
|
Contactless absolute encoder (12BIT,360°) by AMS
|
Motor
|
Coreless Motor
|
Resolution
|
0.088° x 4,096
|
Operating Range
|
Current Control Mode : Endless turn
Velocity Control Mode : Endless turn Position Control Mode : 360[deg] Extended Control Mode : ±256[rev] Current-based Position Control Mode : ±256[rev] PWM Control Mode : Endless turn
|
Input Voltage (V)
|
10~14.8V (Recommended voltage : 12V)
|
Operating Temperature (°C)
|
-5°C ~ 80°C
|
Command Signal
|
Digital Packet
|
Protocol Type
|
Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity)
|
Link (physical)
|
TTL Level Multi Drop Bus
|
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
|
Default Settings
ID : 1
Baud Rate : 57600bps
*Please make necessary modifications to ID, baud rate, etc. after purchase.
**PC Interface : USB2Dynamixel (Molex-JST Convertible Cable is required)
Hyperlinks
Dynamixel X Frame Compatible Chart : Click Here
Controller Compatibility Chart : Click Here
Download Drawing : Click Here
Dynamixel SDK : Click Here
OpenCM IDE : Click Here
Software RoboPlus (R+) : Click Here
Link to e-Manual : Click Here
Caution
The DYNAMIXEL X-Series adopted a new gold-plated
JST connector for secure and reliable communication.
For more information, please see the [DYNAMIXEL Connector Standard] page on the e-Manual.
To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel,
please use the JST-Molex Convertible Cable enclosed in the package.
XM430-W350-T
Basic Features
The DYNAMIXEL X-Series is a new line-up of high performance networked actuators.
For more detailed information, please visit the DYNAMIXEL X-Series Product Information page.
• Improved Torque, Compact Design
• Enhanced Durability and Expandability
• Hollow Back Case Minimizes Cable Stress (3-Way Wiring)
• Frames Directly Screwed onto the Case (No Nuts Needed)
• Improved Aluminum Case Heat Sink
• 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 Efficient (Standby Current Reduced from 100mA to 40mA)
Various Cabling Methods
Key Names
Model Numbering
Package Contents
Description
|
Quantity
|
DYNAMIXEL
|
XM430-W350-T
|
1
|
HORN
|
HN12-N101
|
1
|
WASHER
|
Teflon Washer (for Horn Assembly)
|
1
|
CABLE
|
Robot Cable-X3P 180mm
|
1
|
Robot Cable-X3P
(Convertible) 180mm
|
1
|
BOLT/NUT
|
Wrench Bolt (WB M2.5*4)
|
16
|
Wrench Bolt (WB M2.5*6)
|
1
|
Wrench Bolt (WB M2*3)
|
10
|
ETC
|
Spacer Ring
|
8
|
H/W Specifications
Model Number
|
XM430-W350-T
|
Weight (g)
|
82g
|
Dimensions (mm)
|
28.5mm x 46.5mm x 34mm
|
Gear Ratio
|
353.5 : 1
|
Operation Voltage (V)
|
11.1
|
12
|
14.8
|
Stall Torque (N.m)
|
3.8
|
4.1
|
4.8
|
Stall Current (A)
|
2.1
|
2.3
|
2.7
|
No Load Speed (RPM)
|
43
|
46
|
57
|
|
MCU
|
ST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT)
|
Position Sensor
|
Contactless absolute encoder (12BIT,360°) by AMS
|
Motor
|
Coreless Motor
|
Resolution
|
0.088° x 4,096
|
Operating Range
|
Current Control Mode : Endless turn
Velocity Control Mode : Endless turn Position Control Mode : 360[deg] Extended Control Mode : ±256[rev] Current-based Position Control Mode : ±256[rev] PWM Control Mode : Endless turn
|
Input Voltage (V)
|
10~14.8V (Recommended voltage : 12V)
|
Operating Temperature (°C)
|
-5°C ~ 80°C
|
Command Signal
|
Digital Packet
|
Protocol Type
|
Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity)
|
Link (physical)
|
TTL Level Multi Drop Bus
|
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
|
Default Settings
ID : 1
Baud Rate : 57600bps
*Please make necessary modifications to ID, baud rate, etc. after purchase.
**PC Interface : USB2Dynamixel (Molex-JST Convertible Cable is required)
Hyperlinks
Dynamixel X Frame Compatible Chart : Click Here
Controller Compatibility Chart : Click Here
Download Drawing : Click Here
Dynamixel SDK : Click Here
OpenCM IDE : Click Here
Software RoboPlus (R+) : Click Here
Link to e-Manual : Click Here
Caution
The DYNAMIXEL X-Series adopted a new gold-plated
JST connector for secure and reliable communication.
For more information, please see the [DYNAMIXEL Connector Standard] page on the e-Manual.
To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel,
please use the JST-Molex Convertible Cable enclosed in the package.