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)

Specifications:

• 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
• 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
• Max. [°C] 80
• Motor Coreless (Maxon)
• Baud Rate Min. [bps] 9,600
• 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

Package Components

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 M2.5×4 16 For frame assembly (Side hole)
Wrench Bolt WB M2.5×6 1 For horn assembly (compatible with XH430 standard horn)
Wrench Bolt WB M3x6 1 For XD430 horn assembly
Spacer Ring 8 For frame assembly