XW430-T333-R

￥98,670.-RT_TAX_INCLUDED

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XW430-T200

Features

DYNAMIXEL XW series are ROBOTIS’ first line of IP Level models, featuring a certified IP68 (1m, 24hr) rating and are designed for use in wet environments, underwater, and any outdoor applications where a sealed servo is necessary.

* XW series come with separate waterproof cable and extension cable.

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. Direct Screw Assembly to the Case (without Nut Insert)

5. Energy Saving (Reduced Current from 100mA to 40mA)

6. 31% reduced volume compared to the MX-28

Certified Ingress Protection

Package Components

Item	Quantity	Description
XW430-T333-R	1	DYNAMIXEL
HN12-N105	1	Standard horn for XW430 models
Robot Cable-WP 1000mm	1	Waterproof cable
Robot Cable-WP 1000mm(Extension)	1	Waterproof cable(extension)
Wrench Bolt WB M2.5x4	16	For frame assembly(Side hole)
Wrench Bolt WB M2x4	10	For frame assembly
Wrench Bolt WB M2.5x8	1	For horn assembly

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)

Waterproof Cabling

Performance Comparison

Cautions

DYNAMIXEL XW series use a waterproof cable.

One side has a waterproof connector and the other side has a JST connector.

Extension cable has waterproof connectors for both sides.

The OpenCR controller has a JST connector for direct connection, but since the OpenCM9.04 + OpenCM 485 expansion board only has a Molex connector, a conversion cable must be used by utilizing U2D2 PHB.

Specification

Model Name		XW430-T333-R
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]	3.10
	Stall Current [A]	1.3
	No Load Speed [rpm]	31.0
	No Load Current [A]	0.07
Continuous Operation	Voltage [V]	-
	Torque [N·m]	-
	Speed [rpm]	-
	Current [A]	-
Resolution	Resolution [deg/pulse]	0.0879
	Step [pulse/rev]	4,096
	Angle [degree]	360
Position Sensor		Contactless absolute encoder (12 [bit], 360 [deg]) Maker : ams(www.ams.com), Part No : AS5045
Operating Temperature	Min. [°C]	-5
Operating Temperature	Max. [°C]	80
Motor		Coreless (Maxon)
Baud Rate	Min. [bps]	9,600
Baud Rate	Max. [bps]	4,500,000
Control Algorithm		PID
Gear Type		Spur
Gear Material		Metal
Case Material		Metal(Front, Middle, Back)
Dimensions (WⅹHⅹD) [mm]		28.5 x 46.5 x 34.0
Dimensions (WⅹHⅹD) [inch]		1.12 X 1.83 X 1.34
Weight [g]		96.00
Weight [oz]		3.39
Gear Ratio		332.8:1
Command Signal		Digital Packet
Protocol Type		Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical)		RS485 Multi Drop Bus
ID		0 ~ 252
Feedback		Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc.
Protocol Type		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