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XW430-T333-R[902-0174-000]

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XW430-T333-R[902-0174-000]
Features

DYNAMIXEL XW series are ROBOTIS’ first line of IP Level models, featuring a certified IP68 (1m, 24hr) rating and are designed for use in wet environments, underwater, and any outdoor applications where a sealed servo is necessary.


* XW series come with separate waterproof cable and extension cable.


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 Sink Featuring an Aluminum Case

4. Easy and Simple Assembly Structure

5. Energy Saving (Reduced Current from 100mA to 40mA)

6. 31% reduced volume compared to the MX-28


Certified Ingress Protection
Package Components
ItemQuantity                   Description
XW430-T333-R1DYNAMIXEL
HN12-N1051Standard horn for XW430 models
Robot Cable-WP 1000mm1Waterproof cable
Robot Cable-WP 1000mm(Extension)1Waterproof cable(extension)
Wrench Bolt WB M2.5x416For frame assembly(Side hole)
Wrench Bolt WB M2x410For frame assembly
Wrench Bolt WB M2.5x81For horn assembly
Waterproof Cabling
Drawing

Drawing Download

Compatible Products
Caution

DYNAMIXEL XW series uses a waterproof cable.

One side has a waterproof connector and the other side has a JST connector.

Extension cable has waterproof connectors for both sides.


The OpenCR controller has a JST connector for direct connection, but since the OpenCM9.04 + OpenCM 485 expansion board only has a Molex connector, a conversion cable must be used by utilizing U2D2 PHB.

Specification
Model NameXW430-T333-R
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]3.10
Stall Current [A]1.3
No Load Speed [rpm]31.0
No Load Current [A]0.07
Continuous OperationVoltage [V]-
Torque [N·m]-
Speed [rpm]-
Current [A]-
ResolutionResolution [deg/pulse]0.0879
Step [pulse/rev]4
Angle [degree]360
Position SensorContactless absolute encoder (12 [bit], 360 [deg])
Maker : ams(www.ams.com), Part No : AS5045
Operating TemperatureMin. [°C]-5
Max. [°C]80
MotorCoreless (Maxon)
Baud RateMin. [bps]9,600
Max. [bps]4,500,000
Control AlgorithmPID
Gear TypeSpur
Gear MaterialMetal
Case MaterialMetal(Front, Middle, 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]96.00
Weight [oz]3.39
Gear Ratio332.8:1
Command SignalDigital Packet
Protocol TypeAsynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical)RS485 Multi Drop Bus
ID0 ~ 252
FeedbackPosition, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc.
Protocol TypeProtocol 1.0
Protocol 2.0(Default)
Operating Mode / AngleCurrent Control mode：Endless turn
Velocity Control mode：Endless turn
Position Control Mode：360 [deg]
Extended Position Control Mode：±256 [rev]
Current-based Position Control Mode：±256 [rev]
PWM Control Mode：Endless turn
Output [W]-
Standby Current [mA]40