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XL430-W250-T
Description
Features
DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.
The DYNAMIXEL XL series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure. The XL series has the same mechanical structure as the XM430 and XH430 and is compatible with the respective models.
- 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)
5. Energy Saving with Reduced Current
Package Components
|
XL430-W250-T |
1 |
|
HN11-N101 (Pre-assembled) |
1 |
|
Robot Cable-X3P 180mm |
1 |
|
Bolt (M2.6*5) TAP |
5 |
|
Bolt (M2*5) |
5 |
|
Bolt (PHS M2.5x14) |
5 |
|
Spacer |
5 |
Not included Idler Set (HN11-I101 Set)
Compatible Products
Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0
Interface : USB2Dynamixel, U2D2
Factory Default Settings
ID : 1
Baud Rate : 57600bps
(User can change various settings including ID and baud rate according to environment)
Caution
DYNAMIXEL-X Series cable assembly through hollow case
Organize the entangled cable before assembling the back case.
Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error.
If you use two cables through the hollow case, the cables will be damaged.
Use only one cable through the hollow case.
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.
However, the Molex-JST convertible cable is NOT included in the XL430 model.
Please purchase a convertible cable when using a controller and interface that supports the JST connector.
| 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 |
Various Cabling Methods
Specification
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| Model Name | XL430-W250-T | |
|---|---|---|
| MCU | Cortex-M3 (72 [Mhz], 32 [bit]) | |
| Input Voltage | Min. [V] | 6.5 |
| Recommended [V] | 11.1 | |
| Max. [V] | 12.0 | |
| Performance Characteristics | Voltage [V] | 12.0 |
| Stall Torque [N·m] | 1.50 | |
| Stall Current [A] | 1.4 | |
| No Load Speed [rpm] | 61.0 | |
| No Load Current [A] | 0.15 | |
| Continuous Operation | Voltage [V] | - |
| Torque [N·m] | - | |
| Speed [rpm] | - | |
| Current [A] | - | |
| Resolution | Resolution [deg/pulse] | 0.0879 |
| Step [pulse] | 4,096 | |
| Angle [degree] | 360 | |