2/22/2018
XH430-W350
http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm
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XH430-W350-T / XH430-W350-R
Part Photo
[XH430-W350-T / XH430-W350-R]
H/W Specification
MCU : ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT)
POSITION SENSOR : Contactless absolute encoder (12BIT,360 DEGREE)
Maker : ams (www.ams.com), Part No : AS5045
Motor : Coreless(Maxon)
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(Multi-turn)
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 : 353.5 : 1
Stall Torque
3.1N.m (at 11.1V, 1.2A)
3.4N.m (at 12.0V, 1.3A)
4.2N.m (at 14.8V, 1.5A)
No load speed
27rpm (at 11.1V)
30rpm (at 12.0V)
37rpm (at 14.8V)
Operating Temperature : -5
℃
~ +80
℃
Input Voltage : 10 ~ 14.8V (Recommended : 12V)
Command Signal : Digital Packet
Protocol Type
XH430-W350-T (Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity)
XH430-W350-R (RS485 Asynchronous Serial Communication (8bit,1stop, No Parity)
Link (Physical)
XH430-W350-T (TTL Level Multi Drop Bus)
XH430-W350-R (RS485 Multi Drop Bus)
ID : 253 ID (0~252)
Feedback : Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
Material : Full Metal Gear, Metal Body(Front, Middle), Engineering Plastic Body(Bottom)
Standby current : 40 mA
ROBOTIS e-Manual v1.31.30
