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 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


XL430-W250-T

1

HN11-N101 (Pre-assembled)

1

Robot Cable-X3P 180mm

1

Bolt (M2.6*5) TAP

5

Bolt (M2*5)

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


Various Cabling Methods
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 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.



Controller ModelController ConnectorCable

DynamixelX

Connector

Dynamixel

Communication

OpenCM+485 Expansion BoardMolex (3P, 4P)Robot Cable-X3P 180mm (Convertible)JST-3PTTL
USB2DynamixelMolex (3P, 4P)Robot Cable-X3P 180mm (Convertible)JST-3PTTL
OpenCR1.0JST (3P, 4P)Robot Cable-X3P (by length)JST-3PTTL
U2D2JST (3P, 4P)Robot Cable-X3P (by length)JST-3PTTL
OpenCM+485 Expansion BoardMolex (3P, 4P)Robot Cable-X4P 180mm (Convertible)JST-4PRS-485
USB2DynamixelMolex (3P, 4P)Robot Cable-X4P 180mm (Convertible)JST-4PRS-485
OpenCR1.0JST (3P, 4P)Robot Cable-X4P (by length)JST-4PRS-485
U2D2JST (3P, 4P)Robot Cable-X4P (by length)JST-4PRS-485


Specification
Model Name XL430-W250-T
MCU Cortex-M3 (72 [Mhz], 32 [bit])
Input Voltage Min. [V] 6.5
Recommended [V] 11.1
Max. [V] 12.0
Performance Characteristics Voltage [V] 12.0
Stall Torque [N·m] 1.50
Stall Current [A] 1.4
No Load Speed [rpm] 61.0
No Load Current [A] 0.15
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] 72
Motor Cored
Baud Rate Min. [bps] 9,600
Max. [bps] 4,500,000
Control Algorithm PID
Gear Type Spur
Gear Material Engineering Plastic
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] 57.20
Weight [oz] 2.02
Gear Ratio 258.5 : 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] 52