Robotis DYNAMIXEL XM430-W210

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2/22/2018 ROBOTIS e-Manual

http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 1/34

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XM430-W210

1. Specifications

Item Specifications

MCU ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32Bit)

Position Sensor

Contactless absolute encoder (12Bit, 360°)

Maker : ams(www.ams.com), Part No : AS5045

Motor Coreless Motor

Baud Rate 9600 bps ~ 4.5 Mbps

Control

Algorithm

PID control

Degree of

Precision

0.088°

Operating

Modes

Current Control Mode

Velocity Control Mode

Position Control Mode (0° ~ 360°)

Extended Position Control Mode

Current-based Position Control Mode

PWM Control Mode (Voltage Control Mode)

Weight 82g

Dimensions (W x

H x D)

28.5mm x 46.5mm x 34mm

Gear Ratio 212.6 : 1

Stall Torque

2.7N.m @ 11.1V, 2.1A

3.0Nm @ 12.0V, 2.3A

3.7Nm @ 14.8V, 2.7A

XM430-W210

1. Specifications [+]

2. Control Table [+]

3. How to Assemble [+]

4. Maintenance [+]

5. Reference [+]

Main Page

Need help?

Do you have a question about the Robotis DYNAMIXEL XM430-W210 and is the answer not in the manual?

Summary

Dynamixel XM430-W210 Specifications

Performance Graph

Displays performance characteristics like torque, speed, and current.

Dynamixel Control Table

Control Table Structure and Addressing

Explains the structure, data fields, and addressing within the Control Table.

Control Table Memory Areas (EEPROM vs RAM)

Details the EEPROM and RAM areas of the Control Table and their properties.

Detailed Parameter Descriptions

Describes individual DYNAMIXEL control parameters and their functions.

How to Assemble Dynamixel

Wiring Through Back Case

Instructions for routing cables through the back case for assembly.

Option Frame Assembly

Guides for assembling various option frames to the DYNAMIXEL.

Dynamixel Maintenance Procedures

Horn and Bearing Replacement

Procedures for replacing the horn and bearing set.

Dynamixel Reference and Setup

Quick Start Guide

Prerequisites and initial setup steps for using the DYNAMIXEL.

Connector Pinout and Information

Details on TTL and RS-485 connector pinouts and related components.