2/22/2018
ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/
2/34
Item
Specifications
No Load Speed
70rpm @ 11.1V
77rpm @ 12.0V
95rpm @ 14.8V
Operating
Temperature
-5°C ~ +80°C
Input Voltage
10.0 ~ 14.8V (Recommended : 12.0V)
Standby Current
40mA
Command
Signal
Digital Packet
Protocol Type
XM430-W210-T: Half Duplex Asynchronous Serial
Communication
XM430-W210-R: RS485 Asynchronous Serial Communication
(8bit, 1stop, No Parity)
Physical
Connection
XM430-W210-T: TTL Level Multidrop BUS
XM430-W210-R: RS485 Multidrop BUS
ID
0 ~ 252
Feedback
Position, Velocity, Current, Realtime tick, Trajectory,
Temperature, Input Voltage, etc
Part Material
Full Metal Gear
Metal(Front, Middle), Engineering Plastic(Back)
1. 1. Performance Graph
Note
The max torque measurement method for the Stall Torque and
Performance Graph is different. Stall torque is measured from the
max torque that it can reach. This is generally how RC servos
measure their torque. For the Performance graph with the N-T
curves, it is measured with the load gradually increasing. The motor
operation environment is closer to the performance graph, not stall
torque method. This is probably why the performance graph is being
broadly used in the industrial market. This is why the max torque of
the performance grap can actually be less than the stall torque.
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