DYNAMIXEL XM430-W210-R

■Features
DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Controller + Driver + Sensor + Reduction Gear + 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 aluminum 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 Aluminum 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 MX-28

■Package Components

XM430-W210-R	1
HN12-N101	1
Teflon Washer (for Horn Assembly)	1
Robot Cable-X4P 180mm	1
Robot Cable-X4P(Convertible) 180mm	1
Wrench Bolt WB M2.5x4	16
Wrench Bolt WB M2.5x6	10
Wrench Bolt WB M2x3	1
Spacer Ring	8

■Compatible Products
Controller：OpenCM 485 Expansion Board、OpenCR1.0

Interface：USB2Dynamixel, U2D2

■Performance Comparison


■Specification

Model Name	XM430-W210-R(RS485 4pin)
Weight	81.9g
Dimension	28.5mm x 46.5mm x 34.0mm
Gear rate	212.6 : 1
MCU	Cortex-M3 (72Mhz,32bit)
Position Sensor	AMS Contactless absolute encoder(12bit,360°)
Motor	Coreless
Resolution	約 0.088° x 4step
Operating range	Servo control mode : 360° Wheel mode : endless
Input Voltage	10V～14.8V(Recommended 12V)
Operationg Temperature	-5℃～80℃
Command Signal	Digital Packet
Protocol Type	Half duplex Asynchronous Serial Communication （8bit,1stop,no Parity)
Link (Physical)	RS485 Multi Drop Bus
ID	0～252
Baud Rate	9600 bps～4.5 Mbps
Feedback	Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, etc.
Standby Current	40 mA

■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 the 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.