XH430-W210-T
DYNAMIXEL-X
Functions
- Exclusive intelligent robot actuator with fully integrated DC motor + reduction gear + controller + driver + network in a compact DC servo module.
- Sophisticated control architecture: Multiple methods
feedback and control (6 operating modes, PID gain control, profile control, data feedback) - Compatible with multiple environments
development (SDK, source code, libraries, GUI-based software)
DYNAMIXEL-X
Functions
- Exclusive intelligent robot actuator with fully integrated DC motor + reduction gear + controller + driver + network in a compact DC servo module.
- Sophisticated control architecture: Multiple methods
feedback and control (6 operating modes, PID gain control, profile control, data feedback) - Compatible with multiple environments
development (SDK, source code, libraries, GUI-based software)
| Stall torque [Nm] | No-load speed [rpm] | Voltage [V] | Dimension [mm] | Weight [g] | |
| 0.92 |
|
11.1 | 20.0 x 34.0 x 26.0 | 23.0 |
| Model name | XH430-W210-T | |
|---|---|---|
| Series | DYNAMIXEL X | |
| MCU | ARM Cortex-M3 (72 [Mhz], 32 [bit]) | |
| Input voltage | Min. [V] | 10.0 |
| Recommended [V] | 12.0 | |
| Max. [V] | 14.8 | |
| Performance characteristics | Voltage [V] | 12.0 |
| Loss torque [N m] | 2.50 | |
| Leakage current [A] | 1.3 | |
| No-load speed [rpm] | 50.0 | |
| No-load current [A] | 0.07 | |
| Continuous operation | Voltage [V] | - |
| Torque [N·m] | - | |
| Speed [rpm] | - | |
| Current [A] | - | |
| Resolution | Resolution [degrees/pulse] | 0.0879000000 |
| Step [pulse/rev] | 4,096 | |
| Angle [degree] | 360 | |
| Position sensor | Contactless absolute encoder (12 [bit], 360 [degree]) Manufacturer: ams(www.ams.com), Part No.: AS5045 |
|
| Operating temperature | Min. [°C] | -5 |
| Max. [°C] | 80 | |
| Engine | Coreless (Maxon) | |
| Speed | Min. [pb] | 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 (width x height x depth) [mm] | 28.5 x 46.5 x 34.0 | |
| Dimensions (WⅹHⅹD) [inch] | 1.12 x 1.83 x 1.34 | |
| Weight [g] | 82.00 | |
| Weight [oz] | 2.89 | |
| Gear Ratio | 212.6 : 1 | |
| Backlash [arcmin] | - | |
| Backlash [deg] | - | |
| Command Signal | Digital Packet | |
| Protocol Type | Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity) | |
| Link (Physical) | TTL Level Multidrop Bus | |
| ID | 0 ~ 252 | |
| Feedback | Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, etc. | |
| Protocol version | Protocol 1.0 Protocol 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 |
|
| Output [W] | - | |
| Standby Current [mA] | 40 | |
Varios métodos de cableado
Dibujo
Productos compatibles
Cautela
Conjunto de cables de la serie DYNAMIXEL-X a través de una caja hueca Organice el cable enredado antes de ensamblar la carcasa posterior. No monte la carcasa trasera con el cable enredado. El cable enredado puede ser aplastado por la carcasa y causar un error de comunicación. Si usa dos cables a través de la caja hueca, los cables se dañarán. Utilice solo un cable a través de la carcasa hueca. La serie DYNAMIXEL-X adoptó un nuevo conector JST chapado en oro para una comunicación segura y confiable. El conector utilizado para el Dynamixel anterior es Molex. Para controlar los actuadores de la serie DYNAMIXEL-X a través de OpenCM o USB2Dynamixel, utilice el cable convertible JST-Molex incluido en el paquete.
Sin embargo, el cable convertible Molex-JST NO está incluido en el modelo XL430. Compre un cable convertible cuando utilice un controlador y una interfaz que admita el conector JST.
Ejemplo de instalación
DO NOT DELETE
Streamlined body design with collision detection for safer operation. Equipped with an indicator ring to make it easy to monitor the Magician E6's operating status.