Robotis

XD430-T210-R

Name: XD430-T210-R
Brand: Robotis
SKU: ROBT-902-0179-000
Price: 61859.00 INR
Availability: OutOfStock

SKU:ROBT-902-0179-000

Rs. 61,859.00

~~Rs. 0.00~~ Rs. 61,859.00

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Features:

DYNAMIXEL-XD series is a high-performance lineup specially designed for industrial applications. The XD series shares an identical form factor with the XH/XM series and has long lifetime with a robust metal gear. The aluminum housing and the hollow cable assembly technique are adopted to maximize user convenience. 1. 6 Operating Modes (Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control) 2. Profile Control for Smooth Motion Planning 3. Improved Heat Dissipation with Aluminum Housing 4. Hollow Back Housing Minimizes Cable Stress (3-way-routing) 5. Easy and Simple Assembly Structure 6. Energy Efficient (Reduced Standby Current from 100mA to 40mA)

Package Components:

Item	Quantity	Description
XD430-T210-R	1	DYNAMIXEL
HN12-N101	1	XD430 standard horn
Thrust Washer (for Horn Assembly)	1	Preventing friction between horn and case
Robot Cable-X4P 180mm	1	RS485 4p Cable (JST-JST)
Robot Cable-X4P (Convertible) 180mm	1	RS485 4p Cable (MOLEX-JST)
Wrench Bolt WB M2x3	10	Cable for Dual Joints
Wrench Bolt WB M2.5x4	16	For frame assembly (Side hole)
Wrench Bolt WB M2.5x6	1	For horn assembly (compatible with XH430 standard horn)
Wrench Bolt WB M3x6	1	For XD430 horn assembly
Spacer Ring	8	For frame assembly

Various Cabling Methods:

Performance Comparison:

Caution:

Controller Model	Controller Connector	Cable	DynamixelX Connector	Dynamixel Communication
OpenCM+485 Expansion Board	Molex (3P, 4P)	Robot Cable-X3P 180mm (Convertible)	JST-3P	TTL
USB2Dynamixel	Molex (3P, 4P)	Robot Cable-X3P 180mm (Convertible)	JST-3P	TTL
OpenCR1.0	JST (3P, 4P)	Robot Cable-X3P (by length)	JST-3P	TTL
U2D2	JST (3P, 4P)	Robot Cable-X3P (by length)	JST-3P	TTL
OpenCM+485 Expansion Board	Molex (3P, 4P)	Robot Cable-X4P 180mm (Convertible)	JST-4P	RS-485
USB2Dynamixel	Molex (3P, 4P)	Robot Cable-X4P 180mm (Convertible)	JST-4P	RS-485
OpenCR1.0	JST (3P, 4P)	Robot Cable-X4P (by length)	JST-4P	RS-485
U2D2	JST (3P, 4P)	Robot Cable-X4P (by length)	JST-4P	RS-485

Specification:

Model Name		XD430-T210-R
MCU		Cortex-M3 (72 [Mhz], 32 [bit])
Input Voltage	Min. [V]	10.0
	Recommended [V]	12.0
	Max. [V]	14.8
Performance Characteristics	Voltage [V]	12.0
	Stall Torque [N·m]	2.50
	Stall Current [A]	1.3
	No Load Speed [rpm]	50.0
	No Load Current [A]	0.07
Continuous Operation	Voltage [V]	-
	Torque [N·m]	-
	Speed [rpm]	-
	Current [A]	-
Resolution	Resolution [deg/pulse]	0.0879
	Step [pulse/rev]	4,096
	Angle [degree]	360
Position Sensor		Contactless absolute encoder (12 [bit], 360 [deg]) Maker : ams(www.ams.com), Part No : AS5045
Operating Temperature	Min. [°C]	-5
Operating Temperature	Max. [°C]	80
Motor		Coreless (Maxon)
Baud Rate	Min. [bps]	9,600
Baud Rate	Max. [bps]	4,500,000
Control Algorithm		PID
Gear Type		Spur
Gear Material		Metal
Case Material		Metal(Front, Middle) Engineering Plastic(Back)
Dimensions (WⅹHⅹD) [mm]		28.5 X 46.5 X 34.0
Dimensions (WⅹHⅹD) [inch]		1.12 X 1.83 X 1.34
Weight [g]		85.00
Weight [oz]		2.99
Gear Ratio		212.6 : 1
Command Signal		Digital Packet
Protocol Type		Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical)		RS485 Multi Drop Bus
ID		0 ~ 252
Feedback		Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, etc.
Protocol Type		Protocol 1.0 Protocol 2.0(Default)
Operating Mode / Angle		Current Control mode：Endless turn Velocity Control mode：Endless turn Position Control Mode：360 [deg] Extended Position Control Mode：±256 [rev] Current-based Position Control Mode：±256 [rev] PWM Control Mode：Endless turn
Output [W]		-
Standby Current [mA]		40