Dynamixel XM430-W350-R

STM32F103C8 @ 72MHZ,32BIT)

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

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

Motor : Coreless Motor

Baud Rate : 9600 bps ~ 4.5 Mbps

Control Algorithm : PID CONTROL

Degree of Precision : 0.088°

Operating Modes

Weight : 82g

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

Gear Ratio :  353.5 : 1

Stall Torque

• 3.8N.m (at 11.1V, 2.1A)

• 4.1N.m (at 12.0V, 2.3A)

• 4.8N.m (at 14.8V, 2.7A)

No load speed

• 43rpm (at 11.1V)

• 46rpm (at 12.0V)

• 57rpm (at 14.8V)

Operating Temperature : -5℃ ~ +80℃

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

Command Signal : Digital Packet

Protocol Type

• XM430-W350-T (Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity)

• XM430-W350-R (RS485 Asynchronous Serial Communication (8bit,1stop, No Parity)

• XM430-W350-T (TTL Level Multi Drop Bus)

• XM430-W350-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