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.
Basic Feature
â–ª Improved Torque, Compact Size
â–ª Enhanced Durability and Expandability
â–ª Hollow Back Case Minimizes Cable Stress (3-way-routing)
â–ª Direct Screw Assembly to the Case (without Nut Insert)
â–ª Improved Heat Sink Featuring an Aluminum Case
Various Control Functions
â–ª 6 Operating Modes
â–ª Current-Based Torque Control (4096 steps, 2.69mA/step)
â–ª Profile Control for Smooth Motion Planning
â–ª Trajectory Data and Moving Status (In-Position, Following Error, etc.)
â–ª Energy Saving (Reduced Current from 100mA to 40mA)
Sophisticated Control Architecture
▪ Various feedback and control method according to developers’ needs
â–ª Protocol 2.0 provides reliable packet communication
New H/W Architecture
â–ª Improved Torque, Compact Size
â–ª Compact Design
â–ª Direct Screw Assembly to the Case (without Nut Insert)
â–ª Embedded Board
- OpenCM Series
- 3rd Party Board
902-0130-000 XH430-V210-R
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XH430-V210-R
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-XH / XM Series offers a variety of control techniques based on high-performance current sensing algorithms.
It adopts the aluminium case and adopts the new technology such as the hollow cable fastening structure for users’ convenience.
1. 6 Operating Modes
Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control
2. Profile Control for Smooth Motion Planning
3. Improved Heat Sink Featuring an Aluminium Case
4. Hollow Back Case Minimizes Cable Stress (3-way-routing)
5. Direct Screw Assembly to the Case (without Nut Insert)
6. Energy Saving (Reduced Current from 100mA to 40mA)
7. 31% reduced volume compared to the previous model
(User can change various settings including ID and baud rate according to environment)
Various Cabling Methods
Caution
1.DYNAMIXEL-X Series cable assembly through hollow case
2.Organize the entangled cable before assembling the back case.
3.Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error.
4.If you use two cables through the hollow case, the cables will be damaged.
5.Use only one cable through the hollow case.
6.The DYNAMIXEL-X Series adopted a new gold-plated JST connector for secure and reliable communication.
7.The connector used for previous DYNAMIXEL is Molex.
8.To control DYNAMIXEL-X Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.
9.However, the Molex-JST convertible cable is NOT included in the XL430 model.
10.Please purchase a convertible cable when using a controller and interface that supports the JST connector.
Controller Model
Controller Connector
Cable
DYNAMIXEL X
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
Specification
Model Name
XH430-V210-R
MCU
Cortex-M3 (72 [Mhz], 32 [bit])
Input Voltage
Min. [V]
-
Recommended [V]
24.0
Max. [V]
-
Performance Characteristics
Voltage [V]
24.0
Stall Torque [N·m]
2.60
Stall Current [A]
0.7
No Load Speed [rpm]
52.0
No Load Current [A]
0.06
Continuous Operation
Voltage [V]
-
Torque [N·m]
-
Speed [rpm]
-
Current [A]
-
Resolution
Resolution [deg/pulse]
0.0879
Step [pulse]
4,096
Angle [degree]
360
Position Sensor
Contactless absolute encoder (12 [bit], 360 [deg]) Maker :ams(www.ams.com), Part No : AS5045
Operating Temperature
Min. [°C]
-5
Max. [°C]
80
Motor
Coreless (Maxon)
Baud Rate
Min. [bps]
9,600
Max. [bps]
4,500,000
Control Algorithm
PID
Gear Type
Spur
Gear Material
Metal
Case Material
Metal(Front, Middle)
Engineering Plastic(Back)
Dimensions (Wâ…¹Hâ…¹D) [mm]
28.5 X 46.5 X 34.0
Dimensions (Wâ…¹Hâ…¹D) [inch]
1.12 X 1.83 X 1.34
Weight [g]
82.00
Weight [oz]
2.89
Gear Ratio
212.6 : 1
Command Signal
Digital Packet
Protocol Type
Half duplex Asynchronous
Serial Communication (8bit, 1stop, No Parity)
Link (Physical)
RS485 Multi Drop Bus
ID
0 ~ 252
Feedback
Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, etc.
Protocol version
1.0
2.0(Default)
Operating Mode / Angle
Current Control mode:Endless turn
Velocity Control mode:Endless turn
Position Control Mode:360 [deg]
Extended Position Control Mode:±256 [rev]
Current-based Position Control Mode:±256 [rev]
PWM Control Mode:Endless turn