DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Controller + Driver + Sensor + Reduction Gear + 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.
Metal gears are adopted to enhance its durability.
1. Various Operating Modes
(Velocity Control, Position Control, Extended Position Control, PWM Control)
2. Profile Control for Smooth Motion Planning
3. Hollow Back Case Minimizes Cable Stress (3-way-routing)
4. Easy and Simple Assembly Structure
5. Energy Saving with Reduced Current
Item | Quantity | Description |
---|---|---|
XC430-W150-T | 1 | DYNAMIXEL |
HN11-N101 | 1 | Assembled |
Robot Cable-X3P 180mm | 1 | TTL 3p Cable(JST-JST) |
Bolt M2.6x5 TAP | 5 | For frame assembly(Side hole) |
Bolt M2x5 | 5 | For horn & frame assembly |
Spacer Ring | 5 | For frame assembly |
* Idler Set for assembling hinge frames is not included
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.
중공형으로 케이블 조립시 케이블이 꼬이지 않도록 정리하여 조립합니다.
케이블이 꼬인 상태에서 케이스를 조립하면 케이스에 눌린 케이블로 인해 통신이 불안정해질 수 있습니다.
케이블 2개를 모두 중공형으로 사용하면 케이블이 손상됩니다. 한 개만 중공형으로 사용해주세요.
다이나믹셀-X 시리즈에는 기존 다이나믹셀과 다른 형태의 커넥터가 사용됩니다.
신형 커넥터의 명칭은 JST 이며, 기존 다이나믹셀에 사용된 커넥터의 명칭은 Molex입니다.
다이나믹셀 구매시 동봉되는 케이블 중 JST 커넥터와 Molex 커넥터가 달린 케이블은 기존 Molex 커넥터가 사용된 제어기(OpenCM, USB2Dynamixel)에 다이나믹셀-X 시리즈를 연결할 때 사용하세요.
단, XL430 모델에는 Molex-JST 변환용 케이블이 동봉되어 있지 않으므로 JST 커넥터를 지원하는 제어기와 인터페이스 보드 사용시 반드시 변환용 케이블을 함께 구매해야 합니다.
Model Name | XC430-W150-T | |
---|---|---|
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] | 1.60 | Stall Current [A] | 1.4 | No Load Speed [rpm] | 106.0 | No Load Current [A] | 0.06 |
Continuous Operation | Voltage [V] | - | Torque [N·m] | - | Speed [rpm] | - | Current [A] | - |
Resolution | Resolution [deg/pulse] | 0.0879 | Step [pulse/rev] | 4 | Angle [degree] | 360 |
Position Sensor | Contactless absolute encoder (12Bit, 360 [deg]) Maker : ams(www.ams.com), Part No : AS5601 | |
Operating Temperature | Min. [°C] | -5 | Max. [°C] | 80 |
Motor | Coreless | |
Baud Rate | Min. [bps] | 9,600 | Max. [bps] | 4,500,000 |
Control Algorithm | PID | |
Gear Type | Spur | |
Gear Material | Metal | |
Case Material | Engineering Plastic | |
Dimensions (WⅹHⅹD) [mm] | 28.5 X 46.5 X 34.0 | |
Dimensions (WⅹHⅹD) [inch] | 1.12 X 1.83 X 1.34 | |
Weight [g] | 65.00 | |
Weight [oz] | 2.29 | |
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 Type | 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 [W] | - | |
Standby Current [mA] | 46 |