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ROBOTIS Dynamixel XH430-W210-T
Dynamixel-X TTL Servo Robot Actuator


ROBOTIS Dynamixel XH430-W210-T
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ROBOTIS Dynamixel XH430-W210-T TTL Servo Robot Actuator


#902-0127-000
List Price: $299.90
Add to cart to see sale price!



Package Components

  • XH430-W210-T
  • HN12-N101
  • Teflon Washer (for Horn Assembly)
  • Robot Cable-X4P 180mm
  • Robot Cable-X4P (Convertible) 180mm
  • 16 x Wrench Bolt WB M2.5x4
  • 1 x Wrench Bolt WB M2.5x6
  • 10 x Wrench Bolt WB M2x3
  • 8 x Spacer Ring

 

Overview:

Dynamixel is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.

The Dynamixel XH430-W210-T is a High Performance TTL 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-T 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.

  • Various Operating Modes: Velocity Control, Position Control, Extended Position Control, PWM Control
  • Profile Control for Smooth Motion Planning
  • Hollow Back Case Minimizes Cable Stress (3-way-routing)
  • Direct Screw Assembly to the Case (without Nut Insert)
  • Energy Saving with Reduced Current

Package Components

  • XM430-W210-T
  • HN12-N101
  • Teflon Washer (for Horn Assembly)
  • Robot Cable-X4P 180mm
  • Robot Cable-X4P (Convertible) 180mm
  • 16 x Wrench Bolt WB M2.5x4
  • 1 x Wrench Bolt WB M2.5x6
  • 10 x Wrench Bolt WB M2x3
  • 8 x Spacer Ring

Compatible Products

  • Embedded Board: OpenCM9.04 + 485 Expansion Board
  • PC Interface: USB2Dynamixel (Molex-JST Convertible Cable is required)

Factory Default Settings

  • ID: 1
  • Baud Rate: 57600bps

(User can change various settings including ID and baud rate according to environment)

Various Cabling Methods

Various Cabling Methods

Key Names

Key Names

Caution

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.

Features:

Basic 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

Various Control Functions

  • 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)

Sophisticated Control Architecture:

  • Various feedback and control method according to developers’ needs
  • Protocol 2.0 provides reliable packet communication


Sophisticated Control Architecture

Specifications:


Specifications
Weight 82g
Dimensions 1.12 x 1.83 x 1.34 inch (28.5 x 46.5 x 34.0 mm)
Gear Ratio 212.6 : 1
Operation Voltage 11.1V 12V 14.8V
Stall Torque 2.2 N.m 2.5 N.m 3.1 N.m
Stall Current 1.2A 1.3A 1.3A
No Load Speed 46 RPM 50 RPM 62 RPM
MCU ST Cortex-M3 (STM32F103C8 @ 72MHZ,32BIT)
Position Sensor Contactless Absolute Encoder (12BIT,360°) by AMS
Motor Maxon Motor
Resolution 0.088° x 4,096
Operating Range Current Control Mode: Endless turn
Velocity Control Mode: Endless turn
Position Control Mode: 360°
Extended Control Mode: ±256[rev] 
Current-based Position Control Mode: ±256[rev] 
PWM Control Mode: Endless turn
Input Voltage 10~14.8V (Recommended voltage : 12V)
Operating Temperature -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
Gear Type Spur
Gear Material Full Metal
Case Material Metal (Front, Middle)
Engineering Plastic (Back)
Standby Current 40 mA

Performance Comparison:

Dynamixel-X Series Performance Comparison

Dynamixel SDK:

Dynamixel SDK

Provides various control environment just like Dynamixel

Dynamixel SDK is a software development kit that provides Dynamixel control functions using packet communication. The API of Dynamixel SDK is designed for Dynamixel actuators and Dynamixel-based platforms. You need to be familiar with C/C++ programming language for right use of the software. This e-Manual provides comprehensive information on ROBOTIS products and applications.

Supported Protocols

To control Dynamixel, communication should be established according to the protocol of Dynamixel. There are versions 1.0 and 2.0 of the Dynamixel protocol. The Dynamixel SDK supports both, and the user can use both protocols simultaneously using the Dynamixel SDK. Refer to the following manuals for details on the protocols.

  • Dynamixel Protocol 1.0
  • Dynamixel Protocol 2.0 (Recommended protocoltype)

Supported Devices

The Dynamixel SDK can be used on PCs such as desktops or laptops, as well as on tablets, and also on SBCs like Raspberry Pi and UpBoards. In addition, it can be used with embedded boards that support the Arduino IDE. Dynamixel uses TTL and RS485 communication. In order to use computer and Dynamixel, we recommend USB2Dynamixel or U2D2 as interface device.

Supported Operating Systems

The Dynamixel SDK supports all three operating systems: Windows, Linux, and MacOS.

Supported Languages

The Dynamixel SDK supports various programming languages: C, C++, C#, Python, Java, MATLAB and LabVIEW.
In addition, Dynamixel SDK supports ROS, so it can be used as ROS library using C++ or Python modules.

  • C: *Dynamic library and source code of this library and examples
  • C#, Java, MATLAB, LabVIEW: Support based on dynamic library using C language
  • C++: *Dynamic library and source code of this library and examples
  • Python: Python module and examples
  • ROS: ROS library using C++ and Python modules

(* Dynamic library (*.dll, *.so, and *.dylib files) / .dll: dynamic-link library on Windows / .so: shared object on Linux / .dylib: dynamic library on macOS)

Dynamixel SDK

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Pricing Notes:

ROBOTIS Products
USA: FREE Ground ShippingROBOTIS Dynamixel XH430-W210-T TTL Servo Robot Actuator
#902-0127-000
List Price: $299.90
Add to cart to see sale price!