XH430-W350-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 XL 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.

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

XH430-W350-R（RS485 4pin Model）	1
HN12-N101	1
Teflon Washer (for Horn Assembly)	1
Robot Cable-X4P 180mm	1
Robot Cable-X4P(convertible) 180mm	1
Wrench Bolt（M2.5×4）	16
Wrench Bolt（M2.5×6）	1
Wrench Bolt（M2×3）	10
Spacer Ring	8

■Compatible Products
Controller：OpenCM 485 Expantion Board, OpenCR1.0
Interface：USB2Dynamixel, U2D2

■Performance Comparison


■Specification

Model	XH430-W350-R
Weight	82g
Dimension	28.5mm x 46.5mm x 34mm
Gear ratio	353.5 : 1
MCU	ST Cortex-M3 (72Mhz,32bit)
Position Sensor	Contactless absolute encoder(12bit,360°)
Motor	Coreless Motor
Resolution	約 0.088°[deg/pulse] x 4 step [pulse]
Input Voltage	10.0～14.8V (Recommended：12V)
Operating 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	40mA

■Factory Default Settings
ID(A)：1
Baud Rate：57600bps
(User can change various settings including ID and baud rate according to environment)

※Causion
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.