ROBOTIS Dynamixel XH430-V210-R
Dynamixel-X RS-485 Servo Robot Actuator

ROBOTIS Dynamixel XH430-V210-R RS-485 Servo Robot Actuator

#902-0130-000
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Package Components

XH430-V210-R
HN12-N101
Teflon Washer (for Horn Assembly)
Robot Cable-X4P 180mm
Robot Cable-X4P (Convertible) 180mm
16 x Wrench Bolt WB M2.5x4
1 x Wrench Bolt WB M2.5x6
10 x Wrench Bolt WB M2x3
8 x Spacer Ring

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 XM430-V210-R is a High Performance RS-485 Servo in the Dynamixel X-Series. Using the Same form factor as the other 430 series servos in the X-Series line, the Dynamixel XH430-V210-R has a high Stall Torque rating, making it suitable for robots that need strength more than they need speed.

Dynamixel X-Series is a new line-up of high performance networked actuator module, which has been widely used for building multi-joint robots with reliability and expandability.

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

XH430-V210-R
HN12-N101
Teflon Washer (for Horn Assembly)
Robot Cable-X4P 180mm
Robot Cable-X4P (Convertible) 180mm
16 x Wrench Bolt WB M2.5x4
1 x Wrench Bolt WB M2.5x6
10 x Wrench Bolt WB M2x3
8 x Spacer Ring

Compatible Products

Embedded Board: OpenCM9.04 + 485 Expansion Board
PC Interface: USB2Dynamixel (Molex-JST Convertible Cable is required)

Factory Default Settings

ID: 1
Baud Rate: 57600bps

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

Various Cabling Methods

Key Names

Caution

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.

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
Weight	82g
Dimensions	1.12 x 1.83 x 1.34 inch (28.5 x 46.5 x 34.0 mm)
Gear Ratio	212.6 : 1
Operation Voltage	24V
Stall Torque	2.6 N.m
Stall Current	0.7A
No Load Speed	52 RPM
MCU	ST Cortex-M3 (STM32F103C8 @ 72MHZ,32BIT)
Position Sensor	Contactless Absolute Encoder (12BIT,360°) by AMS
Motor	Maxon Motor
Resolution	0.088° x 4,096
Operating Range	Current Control Mode: Endless turn Velocity Control Mode: Endless turn Position Control Mode: 360° Extended Control Mode: ±256[rev] Current-based Position Control Mode: ±256[rev] PWM Control Mode: Endless turn
Input Voltage	24V (Recommended voltage : 24V)
Operating Temperature	-5°C ~ 80°C
Command Signal	Digital Packet
Protocol Type	RS485 Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (physical)	RS485 Multi Drop Bus (daisy chain type connector)
ID	253 ID (0~252)
Baud Rate	9600 bps ~ 4.5 Mbps
Feedback	Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Gear Type	Spur
Gear Material	Full Metal
Case Material	Metal (Front, Middle) Engineering Plastic (Back)
Standby Current	36 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)