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1/11/2018 XL430-W250

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XL430-W250(Preliminarily Product Document)

Part Photo

[XL430-W250]

H/W Specification

MCU : ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT)

POSITION SENSOR : Contactless absolute encoder (12BIT,360 DEGREE)

Motor : Cored

Baud Rate : 9600 bps ~ 4.5 Mbps

Control Algorithm : PID CONTROL

Degree of Precision : 0.088°

Operating Modes

Velocity Control Mode

Position Control Mode (0° ~ 360°)

Extended Position Control Mode(Multi-turn)

PWM Control Mode(Voltage Control Mode)

Weight : 57.2g

Dimensions(W x H x D) : 28.5mm x 46.5mm x 34mm

Gear Ratio : 258.5 : 1

Stall Torque

1.0N.m (at 9.0V, 1.0A)

1.4N.m (at 11.1V, 1.3A)

1.5N.m (at 12.0V, 1.4A)

No load speed

47rpm (at 9.0V)

57rpm (at 11.1V)

61rpm (at 12.0V)

Operating Temperature : -5℃ ~ +72℃

Input Voltage : 6.5 ~ 12.0V (Recommended : 11.1V)

Command Signal : Digital Packet

Protocol Type

Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity)

Link (Physical)

TTL Level Multi Drop Bus

ID : 253 ID (0~252)

Feedback : Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc.

Material : Engineering Plastic

Standby current : 52 mA

ROBOTIS e-Manualv1.31.30

Summary of content (15 pages)

PAGE 1
/11/2018 XL430-W250 Show Home > Product Information > Actuator > Dynamixel X > XL Series > XL430-W250 ROBOTIS e-Manual v1.31.30 XL430-W250(Preliminarily Product Document) Part Photo [XL430-W250] H/W Specification MCU : ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT) POSITION SENSOR : Contactless absolute encoder (12BIT,360 DEGREE) Motor : Cored Baud Rate : 9600 bps ~ 4.5 Mbps Control Algorithm : PID CONTROL Degree of Precision : 0.
PAGE 2
1/11/2018 XL430-W250 The max torque measurement method for the Stall Torque and Performance Graph is different. Stall torque is measured from the max torque that it can reach. This is generally how RC servos measure their torque. For the Performance graph with the N-T curves, it is measured with the load gradually increasing. The motor operation environment is closer to the performance graph, not stall torque method.
PAGE 3
1/11/2018 XL430-W250 20 4 Homing Offset Home Position Offset RW 0 24 4 Moving Threshold Velocity Threshold for Movement Detection RW 10 31 1 Temperature Limit Maximum Internal Temperature Limit RW 72 32 2 Max Voltage Limit Maximum Voltage Limit RW 140 34 2 Min Voltage Limit Minimum Voltage Limit RW 60 36 2 PWM Limit Maximum PWM Limit RW 885 40 4 Acceleration Limit Maximum Acceleration Limit RW 32767 44 4 Velocity Limit Maximum Velocity Limit RW 415 48 4 Ma
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1/11/2018 XL430-W250 582 2 Indirect Address 31 Indirect Address 31 RW … … … … … 636 … 628 2 Indirect Address 54 Indirect Address 54 RW 659 630 2 Indirect Address 55 Indirect Address 55 RW 660 632 2 Indirect Address 56 Indirect Address 56 RW 661 634 1 Indirect Data 29 Indirect Data 29 RW 0 635 1 Indirect Data 30 Indirect Data 30 RW 0 636 1 Indirect Data 31 Indirect Data 31 RW 0 … … … … … … 659 1 Indirect Data 54 Indirect Data 54 RW 0 660 1 Indire
PAGE 5
1/11/2018 Bit 1 Bit 0 XL430-W250 0x02 0x01 - Unused, always ‘0’ Normal mode(‘0’) : CCW(Positive), CW(Negative) Direction of rotation Reverse mode(’1’) : CCW(Negative), CW(Positive) Operating Mode (11) Operating Mode Operating Mode Description Velocity Control Mode 1 This mode controls velocity. (0° ~ 360°) This mode is identical to the Wheel Mode(endless) from existing Dynamixels. This mode is ideal for wheel-type robots. This mode controls position.
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1/11/2018 XL430-W250 This value helps to determine whether the Dynamixel is in motion or not. When the absolute value of Present Velocity(128) is greater than the Moving Threshold(24), Moving(122) is set to ‘1’, otherwise it is cleared to ‘0’. Values Description Unit about 0.229[RPM] All speed related Data uses the same unit Range 0 ~ 1,023 Temperature Limit (31) This value limits operating temperature.
PAGE 7
1/11/2018 XL430-W250 bit 5 0x20 Overload Error(Default) Detect persistent load that exceeds maximum output bit 4 0x10 Electrical Shock Error(Default) Detect electrical shock on the circuit, or input power is insufficient to operate the motor bit 3 0x08 Motor Encoder Error Detect malfunction of the motor encoder bit 2 0x04 Overheating Error(Default) Detect internal temperature exceeds the configured operating temperature bit 1 0x02 Unused, always ‘0’ bit 0 0x01 Input Voltage Error - Detec
PAGE 8
1/11/2018 XL430-W250 Note : Ka stands for Anti-windup Gain and ‘β’ is a conversion coefficient of position and velocity that cannot be modified by users. For more details about the PID controller, please refer to the below website. http://en.wikipedia.org/wiki/PID_controller Position D Gain (80), Position I Gain (82), Position P Gain (84) Feedforward 2nd Gain (88), Feedforward 1st Gain (90) These Gains are used in Position Control Mode and Extended Position Control Mode.
PAGE 9
1/11/2018 XL430-W250 Unit 20[ms] Range 1 ~ 127 0 Deactivate Bus Watchdog Function, Clear Bus Watchdog Erro Activate Bus Watchdog -1 Bus Watchdog Error Status The Bus Watchdog function monitors the communication interval (time) between the controller and Dynamixel when Torque Enable (64) is '1'. If the measured communication interval (time) is larger than Bus Watchdog (98), the Dynamixel will be stopped. Bus Watchdog (98) will be changed to '-1' (Bus Watchdog Error).
PAGE 10
1/11/2018 XL430-W250 called Velocity Override. For a simple calculation, let's assume that the initial velocity of the Profile is '0'. The following explains how Profile processes Goal Position(116) instruction in Position Control mode, Extended Position Control Mode, Current-based Position Control Mode. ① An Instruction from the user is transmitted via Dynamixel bus, then registered to Goal Position(116). ② Acceleration time(t1) is calculated from Profile Velocity(112) and Profile Acceleration(108).
PAGE 11
1/11/2018 XL430-W250 Unit 1[ms] - Range 0 ~ 32,767 The value resets to '0' when it exceeds 32,767 Moving (122) This value indicates whether Dynamixel is in motion or not. If absolute value of Present Velocity(128) is greater than Moving Threshold(24), Moving(122) is set to '1'. Otherwise, it will be cleared to '0'. However, this value will always be set to '1' regardless of Present Velocity(128) while Profile is in progress with Goal Position(116) instruction.
PAGE 12
1/11/2018 XL430-W250 Indirect Address 1 ~ 28 (168, 170 ~ 220, 222), Indirect Address 29 ~ 56 (578, 580 ~ 630, 632) Indirect Data 1 ~ 28 (224, 225 ~ 250, 251), Indirect Data 29 ~ 56 (634, 635 ~ 660, 661) Indirect Address and Indirect Data are useful when accessing two remote addresses in the Control Table as sequential addresses. Sequential addresses increase Instruction Packet efficiency. Addresses that can be defined as Indirect Address is limited to RAM area(Address 64 ~ 661).
PAGE 13
1/11/2018 XL430-W250 Caution for 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. http://support.robotis.com/en/product/actuator/dynamixel_x/xl_series/xl430-w250.
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1/11/2018 XL430-W250 Combination http://support.robotis.com/en/product/actuator/dynamixel_x/xl_series/xl430-w250.
PAGE 15
1/11/2018 XL430-W250 Taps on each side of the body are self-tapping holes. Be careful not to use these holes repeatedly as it could damage the thread in the hole. Dimension Drawing Information : dc11_a01_xl430_ref.pdf Error Report Copyrights (c) 2010 ROBOTIS All rights reserved. http://support.robotis.com/en/product/actuator/dynamixel_x/xl_series/xl430-w250.