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2/22/2018 XM430-W210

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Home > Product Information > Actuator > Dynamixel X > XM Series > XM430-W210

XM430-W210-T / XM430-W210-R

Part Photo

[XM430-W210-T / XM430-W210-R]

H/W Specification

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

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

Maker : ams (www.ams.com), Part No : AS5045

Motor : Coreless

Baud Rate : 9600 bps ~ 4.5 Mbps

Control Algorithm : PID CONTROL

Degree of Precision : 0.088°

Operating Modes

Current Control Mode

Velocity 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 : 82g

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

Gear Ratio : 212.6 : 1

Stall Torque

2.7N.m (at 11.1V, 2.1A)

3.0N.m (at 12.0V, 2.3A)

3.7N.m (at 14.8V, 2.7A)

No load speed

70rpm (at 11.1V)

77rpm (at 12.0V)

95rpm (at 14.8V)

Operating Temperature : -5℃ ~ +80℃

Input Voltage : 10 ~ 14.8V (Recommended : 12V)

Command Signal : Digital Packet

Protocol Type

XM430-W210-T (Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity)

XM430-W210-R (RS485 Asynchronous Serial Communication (8bit,1stop, No Parity)

Link (Physical)

XM430-W210-T (TTL Level Multi Drop Bus)

XM430-W210-R (RS485 Multi Drop Bus)

ID : 253 ID (0~252)

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

Material : Full Metal Gear, Metal Body(Front, Middle), Engineering Plastic Body(Back)

Standby current : 40 mA

ROBOTIS e-Manualv1.31.30

Summary of content (15 pages)

PAGE 1
2/22/2018 XM430-W210 Show Home > Product Information > Actuator > Dynamixel X > XM Series > XM430-W210 ROBOTIS e-Manual v1.31.30 XM430-W210-T / XM430-W210-R Part Photo [XM430-W210-T / XM430-W210-R] H/W Specification MCU : ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT) POSITION SENSOR : Contactless absolute encoder (12BIT,360 DEGREE) Maker : ams (www.ams.com), Part No : AS5045 Motor : Coreless Baud Rate : 9600 bps ~ 4.5 Mbps Control Algorithm : PID CONTROL Degree of Precision : 0.
PAGE 2
/22/2018 XM430-W210 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
2/22/2018 XM430-W210 13 1 Protocol Version Protocol Version RW 2 20 4 Homing Offset Home Position Offset RW 0 RW 10 Velocity Threshold for Movement 24 4 Moving Threshold 31 1 Temperature Limit Maximum Internal Temperature Limit RW 80 32 2 Max Voltage Limit Maximum Voltage Limit RW 160 34 2 Min Voltage Limit Minimum Voltage Limit RW 95 36 2 PWM Limit Maximum PWM Limit RW 885 38 2 Current Limit Maximum Current Limit RW 1193 40 4 Acceleration Limit Maximum A
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2/22/2018 XM430-W210 … … … … … … 249 1 Indirect Data 26 Indirect Data 26 RW 0 250 1 Indirect Data 27 Indirect Data 27 RW 0 251 1 Indirect Data 28 Indirect Data 28 RW 0 578 2 Indirect Address 29 Indirect Address 29 RW 634 580 2 Indirect Address 30 Indirect Address 30 RW 635 582 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
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2/22/2018 XM430-W210 Drive Mode (10, Available after Firmware version 38) Definition Values Bit 7 Drive Mode 0x80 - Unused, always ‘0’ Bit 6 0x40 - Unused, always ‘0’ Bit 5 0x20 - Unused, always ‘0’ Bit 4 0x10 - Unused, always ‘0’ Bit 3 0x08 - Unused, always ‘0’ Bit 2 0x04 - Unused, always ‘0’ Bit 1 0x02 - Unused, always ‘0’ Bit 0 0x01 Direction of rotation Normal mode(‘0’) : CCW(Positive), CW(Negative) Reverse mode(’1’) : CCW(Negative), CW(Positive) Operating Mode (11) O
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2/22/2018 XM430-W210 2(Default) 2.0 Dynamixel-X, Dynamixel-PRO Series Note : The protocol 2.0 is greatly improved from the protocol 1.0. Accessing some of the Control Table area might be denied if protocol 1.0 is selected. This manual complies with protocol 2.0. Please refer to the Protocol section of e-Manual for more details about the protocol. Homing Offset (20) Users can adjust the Home position by setting Home Offset(20). The Homing Offset value is added to the Present Position(132).
PAGE 7
2/22/2018 XM430-W210 Velocity Limit (44) This value indicates maximum velocity of Goal Velocity(104) and Profile Velocity(112). For more details, please refer to the Profile Velocity(112). Values Description Unit 0.229[RPM] All velocity related Data uses the same unit Range 0 ~ 1,023 - Max Position Limit (48), Min Position Limit (52) These values limit maximum and minimum target positions for Position Control Mode(Joint Mode) within the range of 1 rotation(0~4095).
PAGE 8
2/22/2018 XM430-W210 Registered Instruction (69) This value will be set to ‘1’ when Dynamixel receives REG_WRITE Instruction Packet and processing ACTION Instruction Packet will clear the value to ‘0’. Hardware Error Status (70) This value indicates hardware error status. For more details, please refer to the Shutdown(63). Velocity I Gain (76), Velocity P Gain (78) These values indicate Gains of Velocity Control Mode.
PAGE 9
2/22/2018 XM430-W210 Note1) : In case of PWM Control Mode, both PID controller and Feedforward controller are deactivated while Goal PWM(100) value is directly controlling the motor through an Inverter. In this manner, users can directly control the supplying voltage to the motor. Note2) : Ka is an Anti-windup Gain that cannot be modified by users. Below figure is a block diagram describing the current-based position controller in Current-based Position Control Mode.
PAGE 10
2/22/2018 XM430-W210 ③ Change the value of Bus Watchdog (98) to '100' (2,000 [ms]). (Activate Bus Watchdog Function) ④ If no instruction packet is received for 2,000 [ms], the Dynamixel will stop. When it stops, the Profile Acceleration (108) and Profile Velocity (112) are applied as '0'. ⑤ The value of Bus Watchdog (98) changes to '-1' (Bus Watchdog Error). At this time, the access to the Goal Value will be changed to read-only.
PAGE 11
2/22/2018 XM430-W210 VPRFL(112) = 0 Profile not used (Step Instruction) (VPRFL(112) ≠ 0) & (APRF(108) = 0) Rectangular Profile (VPRFL(112) ≠ 0) & (APRF(108) ≠ 0) & (VPRFL_TRI ≤ VPRFL(112)) Triangular Profile (VPRFL(112) ≠ 0) & (APRF(108) ≠ 0) & (VPRFL_TRI ＞ VPRFL(112)) Trapezoidal Profile ④ Selected Profile type is stored at Moving Status(123).(Refer to the Moving Status(123)) ⑤ Dynamixel is driven by the calculated target trajectory from Profile.
PAGE 12
2/22/2018 XM430-W210 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 13
2/22/2018 XM430-W210 A. Indirect Address 2(170) : change the value to '116' which is the first address of Goal Position. B. Indirect Address 3(172) : change the value to '117' which is the first address of Goal Position. C. Indirect Address 4(174) : change the value to '118' which is the first address of Goal Position. D. Indirect Address 5(176) : change the value to '119' which is the first address of Goal Position. E.
PAGE 14
2/22/2018 XM430-W210 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. Combination http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm430-w210.
PAGE 15
2/22/2018 XM430-W210 Dimension Drawing Information : X-430_std_ref.pdf Frame Compatibility Guide(LINK) Error Report Copyrights (c) 2010 ROBOTIS All rights reserved. http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm430-w210.