ROBOTIS Dynamixel XC430-W150-T
Dynamixel-X TTL Servo Robot Actuator

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Overview:

Dynamixel is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.

The Dynamixel XC series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure. The XL series has the same mechanical structure as the XM430 and XH430 and is compatible with the respective models.

XC430 is a high performance version of XL430 (Entry-level Dynamixel), that can be applied to robots that require stronger torque.

Various Operating Modes: Velocity Control, Position Control, Extended Position Control, PWM Control
Profile Control for Smooth Motion Planning
Hollow Back Case Minimizes Cable Stress (3-way-routing)
Direct Screw Assembly to the Case (without Nut Insert)
Energy Saving with Reduced Current

Package Components

XC430-W150-T
HN11-N101 (Pre-assembled)
Robot Cable-X3P 180mm
5 x Bolt M2.6x5 TAP
5 x Bolt M2x5
5 x Bolt PHS M2.5x14
5 x Spacer

* Not included Idler Set for assembling hinge frames

Compatible Products

Controller: OpenCM9.04 485 Expansion Board, OpenCR1.0
Interface: USB2Dynamixel, U2D2

Factory Default Settings

ID: 1
Baud Rate: 57600bps

(User can change various settings including ID and baud rate according to environment)

Various Cabling Methods

Caution

Dynamixel-X Series cable assembly through hollow case

Organize the entangled cable before assembling the back case. Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error.

If you use two cables through the hollow case, the cables will be damaged. Use only one cable through the hollow case.

The Dynamixel-X Series adopted a new gold-plated JST connector for secure and reliable communication. The connector used for previous Dynamixel is Molex.

To control Dynamixel-X Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.

However, the Molex-JST convertible cable is NOT included in the XL430 model. Please purchase a convertible cable when using a controller and interface that supports the JST connector.

Features:

Basic Features

Improved Torque, Compact Size
Enhanced Durability and Expandability
Hollow Back Case Minimizes Cable Stress (3-way-routing)
Direct Screw Assembly to the Case (without Nut Insert)
Improved Heat Sink Featuring an Aluminum Case

Various Control Functions

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 Saving (Reduced Current from 100mA to 40mA)

Sophisticated Control Architecture:

Various feedback and control method according to developers’ needs
Protocol 2.0 provides reliable packet communication

Sophisticated Control Architecture

Specifications:

Specifications
MCU	Cortex-M3 (72 Mhz, 32 bit)
Input Voltage	Min: 10.0V Recommended: 12.0V Max: 14.8V
Performance Characteristics	Voltage: 12.0V Stall Torque: 1.60N·m Stall Current: 1.4A No Load Speed: 106.0rpm No Load Current: 0.06A
Continuous Operation	Voltage: - Torque: - Speed: - Current: -
Resolution	Resolution [deg/pulse]: 0.0879 Step [pulse]: 4,096 Angle [degree]: 360
Position Sensor	Contactless Absolute Encoder (12Bit, 360 [deg]) Maker : ams (www.ams.com), Part No : AS5045
Operating Temperature	Min: -5 °C Max: 80 °C
Motor	Coreless
Baud Rate	Min: 9,600 bps Max: 4,500,000 bps
Control Algorithm	PID
Gear Type	Spur
Gear Material	Metal
Case Material	Engineering Plastic
Dimensions (WxHxD)	1.12 x 1.83 x 1.34 inch (28.5 x 46.5 x 34.0 mm)
Weight	2.29oz (65.00g)
Gear Ratio	159.5 : 1
Command Signal	Digital Packet
Protocol Type	Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical)	TTL Level Multi Drop Bus
ID	0 ~ 252
Feedback	Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Protocol version	Protocol 1.0 Protocol 2.0(Default)
Operating Mode / Angle	Velocity Control mode: Endless turn Position Control Mode: 360 [deg] Extended Position Control Mode: ±256 [rev] PWM Control Mode: Endless turn
Output	-
Standby Current	46 mA

Performance Comparison:

Dynamixel-X Series Performance Comparison

Dynamixel SDK:

Dynamixel SDK

Provides various control environment just like Dynamixel

Dynamixel SDK is a software development kit that provides Dynamixel control functions using packet communication. The API of Dynamixel SDK is designed for Dynamixel actuators and Dynamixel-based platforms. You need to be familiar with C/C++ programming language for right use of the software. This e-Manual provides comprehensive information on ROBOTIS products and applications.

Supported Protocols

To control Dynamixel, communication should be established according to the protocol of Dynamixel. There are versions 1.0 and 2.0 of the Dynamixel protocol. The Dynamixel SDK supports both, and the user can use both protocols simultaneously using the Dynamixel SDK. Refer to the following manuals for details on the protocols.

Dynamixel Protocol 1.0
Dynamixel Protocol 2.0 (Recommended protocoltype)

Supported Devices

The Dynamixel SDK can be used on PCs such as desktops or laptops, as well as on tablets, and also on SBCs like Raspberry Pi and UpBoards. In addition, it can be used with embedded boards that support the Arduino IDE. Dynamixel uses TTL and RS485 communication. In order to use computer and Dynamixel, we recommend USB2Dynamixel or U2D2 as interface device.

Supported Operating Systems

The Dynamixel SDK supports all three operating systems: Windows, Linux, and MacOS.

Supported Languages

The Dynamixel SDK supports various programming languages: C, C++, C#, Python, Java, MATLAB and LabVIEW.
In addition, Dynamixel SDK supports ROS, so it can be used as ROS library using C++ or Python modules.

C: *Dynamic library and source code of this library and examples
C#, Java, MATLAB, LabVIEW: Support based on dynamic library using C language
C++: *Dynamic library and source code of this library and examples
Python: Python module and examples
ROS: ROS library using C++ and Python modules

(* Dynamic library (*.dll, *.so, and *.dylib files) / .dll: dynamic-link library on Windows / .so: shared object on Linux / .dylib: dynamic library on macOS)