Features:

• DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor Controller Driver Sensor Reduction Gear Network in one DC servo module • The DYNAMIXEL-XH / XM Series offers a variety of control techniques based on high-performance current sensing algorithms. • It adopts the aluminum case and adopts the new technology such as the hollow cable fastening structure for users’ 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 Sink Featuring an Aluminum Case 4. Hollow Back Case Minimizes Cable Stress (3-way-routing) 5. Easy and Simple Assembly Structure 6. Energy Saving (Reduced Current from 100mA to 40mA) 7. 31% reduced volume compared to the MX-28

Specifications:

• MCU Cortex-M3 (72 [Mhz], 32 [bit]) • Input Voltage Min. [V] - • Recommended [V] 24.0 • Max. [V] - • Performance Characteristics Voltage [V] 24.0 • Stall Torque [N·m] 2.60 • Stall Current [A] 0.7 • No Load Speed [rpm] 52.0 • No Load Current [A] 0.06 • 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 (Wâ…¹Hâ…¹D) [mm] 28.5 X 46.5 X 34.0 • Dimensions (Wâ…¹Hâ…¹D) [inch] 1.12 X 1.83 X 1.34 • Weight [g] 82.00 • Weight [oz] 2.89 • Gear Ratio 212.6 : 1

Package Components

XH430-V210-R 1 DYNAMIXEL HN12-N101 1 Standard horn for X430 models 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 M2.5x4 16 For frame assembly(Side hole) Wrench Bolt WB M2.5x6 1 For horn assembly Wrench Bolt WB M2x3 10 For horn & frame assembly Spacer Ring 8 For frame assembly