DYNAMIXEL XL430-W250-T

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 XL 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. Model Name XL430-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] 12.0 Stall Torque [N·m] 1.50 Stall Current [A] 1.4 No Load Speed [rpm] 61.0 No Load Current [A] 0.15 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 (12Bit, 360 [deg]) Maker : ams(www.ams.com), Part No : AS5601 Operating Temperature 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 Engineering Plastic 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] 57.00 Weight [oz] 2.02 Gear Ratio 258.5 : 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] 52