Robotis DYNAMIXEL XM430-W210 User Manual

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
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1. Specifications [+]
2. Control Table [+]
3. How to Assemble [+]
4. Maintenance [+]
5. Reference [+]

Robotis DYNAMIXEL XM430-W210 Specifications

General

Brand	Robotis
Model	DYNAMIXEL XM430-W210
Category	Industrial Equipment
Language	English