DYNAMIXEL 2XL430-W250-T

Features

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

The DYNAMIXEL 2XL series can control two axis with a single module, so it can be effectively applied to robot`s neck, shoulder, hip, wrist, and ankle.The 2XL series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure and Metal gear (Powder Metallurgy) is used for high durability. High compatibility with XL430, XM430, XH430.

Velocity Control, Position Control, Extended Position Control, PWM Control

Package Components

* Idler Set(HN11-I101 Set) for assembling hinge frames are not included.

Compatible Products

Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0, CM-550

Interface : USB2Dynamixel, U2D2

Factory Default Settings

ID(A) : 1

ID(B) : 2

Baud Rate : 57600bps

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

Various Cabling Methods

Performance Comparison

Cautions

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.

The DYNAMIXEL-X Series adopted a new gold-plated JST connector for secure and reliable communication.

The connector used for previous Dynamixel is Molex.

Molex-JST conversion cable is not included with the purchase of 2XL430 Dynamixel, so you must purchase Molex-JST conversion cable separately to connect to the existing controller (OpenCM 485 expansion board, USB2Dynamixel).

Specification

Model Name	2XL430-W250-T
MCU	Cortex-M3 (72 [Mhz], 32 [bit])
Input Voltage	Min. [V] - 6.5 Recommended [V] - 11.1 Max. [V] - 12.0
Performance Characteristics	Voltage [V] - 11.1 Stall Torque [N·m] - 1.40 Stall Current [A] - 1.3 No Load Speed [rpm] - 57.0 No Load Current [A] - 0.05
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 : AS5601
Op	Min. [°C] -5 Max. [°C] 72
Motor	Cored
Baud Rate	Min. [bps] 9,600 Max. [bps] 4,500,000
Control Algorithm	PID
Gear Type	Spur
Gear Material	Powder-Metallurgy
Case Material	Engineering Plastic
Dimensions (WⅹHⅹD) [mm]	36 X 46.5 X 36
Dimensions (WⅹHⅹD) [inch]	1.4 X 1.83 X 1.41
Weight [g]	98.20
Weight [oz]	3.46
Gear Ratio	257 : 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 ~ 253
Feedback	Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Protocol version	1.0 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
Standby Current [mA]	49