Dynamixel XH430-V350-R
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Basic Features
The DYNAMIXEL X-Series is a new line-up of high performance networked actuators.
For more detailed information, please visit the DYNAMIXEL X-Series Product Information page.
• Improved Torque, Compact Design
• Enhanced Durability and Expandability
• Hollow Back Case Minimizes Cable Stress (3-Way Wiring)
• Frames Directly Screwed onto the Case (No Nuts Needed)
• Improved Aluminum Case Heat Sink
• 6 Operating Modes
• Current-Based Torque Control (4096 steps, 2.69mA/step)
• Profile Control for Smooth Motion Planning
• Trajectory Data and Moving Status (In-Position, Following Error, etc.)
• Energy Efficient (Standby Current Reduced from 100mA to 40mA)
Package Contents
|
Quantity |
||
|
DYNAMIXEL |
XH430-V350-R |
1 |
|
HORN |
HN12-N101 |
1 |
|
WASHER |
Teflon Washer (for Horn Assembly) |
1 |
|
CABLE |
Robot Cable-X4P 180mm |
1 |
|
Robot Cable-X4P (Convertible) 180mm |
1 |
|
|
BOLT/NUT |
Wrench Bolt (WB M2.5*4) |
16 |
|
Wrench Bolt (WB M2.5*8) |
1 |
|
|
Wrench Bolt (WB M2*3) |
10 |
|
|
ETC |
Spacer Ring |
8 |
■ H/W Specifications
|
Model Number |
XH430-V350-R |
|
Weight (g) |
82g |
|
Dimensions (mm) |
28.5mm x 46.5mm x 34mm |
|
Gear Ratio |
212.6 : 1 |
|
Operation Voltage (V) |
24 |
|
Stall Torque (N.m) |
3.3 |
|
Stall Current (A) |
0.7 |
|
No Load Speed (RPM) |
31 |
|
MCU |
ST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT) |
|
Position Sensor |
Contactless absolute encoder (12BIT,360°) by AMS |
|
Motor |
Maxon Motor |
|
Resolution |
About 0.088° x 4,096 |
|
Operating Range |
Current Control Mode : Endless turn |
|
Input Voltage (V) |
24V (Recommended voltage : 24V) |
|
Operating Temperature (°C) |
-5°C ~ 80°C |
|
Command Signal |
Digital Packet |
|
Protocol Type |
RS485 Asynchronous Serial Communication (8bit,1stop, No Parity) |
|
Link (physical) |
RS485 Multi Drop Bus (daisy chain type connector) |
|
ID |
253 ID (0~252) |
|
Baud Rate |
9600 bps ~ 4.5 Mbps |
|
Feedback |
Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc. |
|
Material |
Case : Metal (Front, Middle) Engineering Plastic (Back) Gear : Metal |
|
Standby current |
36 mA |
■ Default Settings
ID : 1
Baud Rate : 57600bps
*Please make necessary modifications to ID, baud rate, etc. after purchase.
**PC Interface : USB2Dynamixel (Molex-JST Convertible Cable is required)
■ Hyperlinks
Frame, Horn, Bearing Compatible Compatible Chart : Click Here
Controller Compatibility Chart : Click Here
Download Drawing : Click Here
Dynamixel SDK : Click Here
OpenCM IDE : Click Here
Software RoboPlus (R+) : Click Here
Link to e-Manual : Click Here
■ Caution
The DYNAMIXEL X-Series adopted a new gold-plated
JST connector for secure and reliable communication.
For more information, please see the [DYNAMIXEL Connector Standard] page on the e-Manual.
To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel,
please use the JST-Molex Convertible Cable enclosed in the package.