DYNAMIXEL X Series

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Product Name:XC430-W240-T
Product Code:902-0147-000
Availability:Yes
  
Product description:

XC430-W240-T

 

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 XC 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.

XC430 is a high performance version of XL430 (Entry-level DYNAMIXEL), that can be applied to robots that require stronger torque.


Metal gears
are adopted to enhance its durability.

1. Various Operating Modes

Velocity Control, Position Control, Extended Position Control, PWM Control

2. Profile Control for Smooth Motion Planning

3. Hollow Back Case Minimizes Cable Stress (3-way-routing)

4. Direct Screw Assembly to the Case (without Nut Insert)
5. Energy Saving with Reduced Current


Package Components

XC430-W240-T

1

HN11-N101 (Assembled)

1

Robot Cable-X3P 180mm

1

Bolt M2.6x5 TAP

5

Bolt M2x5

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)

Various Cabling Methods

 

Performance Comparison

 

Cautions

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

XC430-W240-T

MCU

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

Stall Torque [N·m]

1.90

Stall Current [A]

1.4

No Load Speed [rpm]

70.0

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 (12Bit, 360 [deg])
Maker : ams(www.ams.com), Part No : AS5601

Operating Temperature

Min. [°C]

-5

Max. [°C]

80

Motor

Coreless

Baud Rate

Min. [bps]

9,600

Max. [bps]

4,500,000

Control Algorithm

PID

Gear Type

Spur

Gear Material

Precious Metal

Case Material

Engineering Plastic

Dimensions (WHD) [mm]

28.5 X 46.5 X 34.0

Dimensions (WHD) [inch]

1.12 X 1.83 X 1.34

Weight [g]

65.00

Weight [oz]

2.29

Gear Ratio

245.2:1

Command Signal

Digital Packet

Protocol Type

Half duplex Asynchronous
Serial Communication (8bit, 1stop, No Parity)

Link (Physical)

TTL Level Multi Drop Bus

ID

0 ~ 252

Feedback

Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc

Protocol version

1.0
2.0(Default)

Operating Mode / Angle

Velocity Control modeEndless turn
Position Control Mode
360 [deg]
Extended Position Control Mode
±256 [rev]
PWM Control Mode
Endless turn

Output [W]

-

Standby Current [mA]

46

Links





902-0147-000-XC430-W240-T