■ 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





■ Model Numbering





■ Package Contents

 

Description		Quantity
DYNAMIXEL	XH430-W210-T	1
HORN	HN12-N101	1
WASHER	Teflon Washer (for Horn Assembly)	1
CABLE	Robot Cable-X4P 180mm	1
	Robot Cable-X4P (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	XH430-W210-T
Weight (g)	82g
Dimensions (mm)	28.5mm x 46.5mm x 34mm
Gear Ratio	212.6 : 1
Operation Voltage (V)	11.1	12	14.8
Stall Torque (N.m)	2.2	2.5	3.1
Stall Current (A)	1.2	1.3	1.5
No Load Speed (RPM)	46	50	62
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 steps
Operating Range	Position Control Mode : 360° Velocity 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.
Standby current (mA)	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

Frame, Horn, Bearing Compatible 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.


 



 

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