XH430-W350-R

Name: XH430-W350-R
SKU: 902-0120-000
Availability: InStock

$554.00 ex. GST ($609.40 inc. GST - only Aust. customers are charged GST)

The DYNAMIXEL X-Series is a new line-up of high performance networked actuators.

Description

■ Basic Features

6 Operating Modes:
Torque control, Velocity control, Position control, Extended position control, Current based position control, PWM control
Improved Torque, Compact Design
Enhanced Durability and Expandability
Hollow Back Case Minimizes Cable Stress (3-Way Wiring)
Frames Directly Screwed onto the Case (No Nuts Needed)
Improved Aluminum Case Heat Sink
Profile Control for Smooth Motion Planning
Trajectory Data and Moving Status (In-Position, Following Error, etc.)
Energy Efficient (Standby Current Reduced from 100mA to 40mA)
31.8% reduced volume compared to the MX-28

■ Package Contents

Description		Quantity
DYNAMIXEL	XH430-W350-R	1
HORN	HN12-N101	1
WASHER	Teflon Washer (for Horn Assembly)	1
CABLE	Robot Cable-X4P 180mm	1
CABLE	Robot Cable-X4P (Convertible) 180mm	1
BOLT/NUT	Wrench Bolt (WB M2.5*4)	16
	Wrench Bolt (WB M2.5*6)	1
	Wrench Bolt (WB M2*3)	10
ETC	Spacer Ring	8

■ Various Cabling Methods

■ Key Names

■ Model Numbering

■ How to Use

■ Specifications

Item	Specifications
MCU	ST CORTEX-M3 (STM32F103C8 @ 72 [Mhz], 32Bit)
Position Sensor	Contactless absolute encoder (12Bit, 360 [°]) Maker : ams(www.ams.com), Part No : AS5045
Motor	Maxon
Baud Rate	9,600 [bps] ~ 4.5 [Mbps]
Control Algorithm	PID control
Resolution	4096 [pulse/rev]
Backlash	15 [arcmin] (0.25 [°])
Operating Modes	Current Control Mode Velcoity 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	82 [g]
Dimensions (W x H x D)	28.5 x 46.5 x 34 [mm]
Gear Ratio	353.5 : 1
Stall Torque	3.1 [Nm] (at 11.1 [V], 1.2 [A]) 3.4 [Nm] (at 12.0 [V], 1.3 [A]) 4.2 [Nm] (at 14.8 [V], 1.5 [A])
No Load Speed	27 [rev/min] (at 11.1 [V]) 30 [rev/min] (at 12.0 [V]) 37 [rev/min] (at 14.8 [V])
Radial Load	40 [N] (10 [mm] away from the horn)
Axial Load	20 [N]
Operating Temperature	-5 ~ +80 [°C]
Input Voltage	10.0 ~ 14.8 [V] (Recommended : 12.0 [V])
Command Signal	Digital Packet
Protocol Type	RS485 Asynchronous Serial Communication with 8bit, 1stop, No Parity
Physical Connection	RS485
ID	253 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)
Standby Current	40 [mA]