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XC430-W150-T[902-0155-000]

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DYNAMIXEL XC430-W150-T

XL-430シリーズの上位機種で

減速比は150でスピードタイプ、コアレスモータ
ギアがメタルギアになって耐久性が向上しています。
Features

DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor Reduction Gearhead Controller Driver Network in one DC servo module.


The DYNAMIXEL XC 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.

XC430 is a high performance version of XL430 (Entry-level DYNAMIXEL), that can be applied to robots that require stronger torque.

Metal gears are adopted to enhance its durability.

 

1. Various Operating Modes

Velocity Control, Position Control, Extended Position Control, PWM Control

2. Profile Control for Smooth Motion Planning

3. Hollow Back Case Minimizes Cable Stress (3-way-routing)

4. Direct Screw Assembly to the Case (without Nut Insert)
5. Energy Saving with Reduced Current

Package Components
XC430-W150-T1
HN11-N101 (Assembled)1
Robot Cable-X3P 180mm1
Bolt M2.6x5 TAP5
Bolt M2x55
Bolt PHS M2.5x145
Spacer5

* Not included Idler Set for assembling hinge frames

Compatible Products

Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0

Interface : USB2Dynamixel, U2D2


Factory Default Settings

ID : 1

Baud Rate : 57600bps


(User can change various settings including ID and baud rate according to environment)

Various Cabling Methods
Performance Comparison
Cautions

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.

If you use two cables through the hollow case, the cables will be damaged.

Use only one cable through the hollow case.


The DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication.

The connector used for previous Dynamixel is Molex.


To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.


However, the Molex-JST convertible cable is NOT included in the XL430 model.


Please purchase a convertible cable when using a controller and interface that supports the JST connector.

Specification
Model NameXC430-W150-T
MCUCortex-M3 (72 [Mhz], 32 [bit])
Input VoltageMin. [V]10.0
Recommended [V]12.0
Max. [V]14.8
Performance CharacteristicsVoltage [V]12.0
Stall Torque [N·m]1.60
Stall Current [A]1.4
No Load Speed [rpm]106.0
No Load Current [A]0.06
Continuous OperationVoltage [V]-
Torque [N·m]-
Speed [rpm]-
Current [A]-
ResolutionResolution [deg/pulse]0.0879
Step [pulse]4,096
Angle [degree]360
Position SensorContactless absolute encoder (12Bit, 360 [deg])
Maker : ams(www.ams.com), Part No : AS5601
Operating TemperatureMin. [°C]-5
Max. [°C]80
MotorCoreless
Baud RateMin. [bps]9,600
Max. [bps]4,500,000
Control AlgorithmPID
Gear TypeSpur
Gear MaterialPrecious Metal
Case MaterialEngineering 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]65.00
Weight [oz]2.29
Gear Ratio159.5:1
Command SignalDigital Packet
Protocol TypeHalf duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical)TTL Level Multi Drop Bus
ID0 ~ 252
FeedbackPosition, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Protocol version1.0 
2.0(Default)
Operating Mode / AngleVelocity 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]46

  • 価格：15,730円
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