XC430-W240-T

￥15,818.-RT_TAX_INCLUDED

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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 for assembling hinge frames

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

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 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.

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
Operating Temperature	Max. [°C]	80
Motor		Coreless
Baud Rate	Min. [bps]	9,600
Baud Rate	Max. [bps]	4,500,000
Control Algorithm		PID
Gear Type		Spur
Gear Material		Precious Metal
Case Material		Engineering Plastic
Dimensions (WⅹHⅹD) [mm]		28.5 X 46.5 X 34.0
Dimensions (WⅹHⅹD) [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 mode：Endless turn Position Control Mode：360 [deg] Extended Position Control Mode：±256 [rev] PWM Control Mode：Endless turn
Output [W]		-
Standby Current [mA]		46