Dynamixel XD430-T210-R Servo Motor

Dynamixel XD430-T210-R actuator: a 250% increase in service life

For this DC servo motor, Robotis has paid special attention to its choice of materials, particularly when it comes to its gears. While the Dynamixel XD430-T210-R shares the same form factor as the XH430 and offers a comparable performance, it guarantees a more than threefold increase in service life. This is great news for roboticists seeking parts sure to withstand the test of time, especially for industrial applications.

A servo you can control down to the smallest parameter

Another major advantage of the Dynamixel XD430-T210-R actuator is that it shares a set of features with the servos in the X series, essential for precision robotics, namely:

• 5 operating modes: current, velocity, position, extended position and PWM control
• Comprehensive feedback, from speed to operating temperature, trajectory and position
• Easier programming thanks to open-source resources (SDK and Dynamixel Wizard 2.0 available for free download)

Technical specifications of the Dynamixel XD430-T210-R actuator

• MCU: Cortex-M3 72 MHz, 32 bits
• Input voltage: 10-14.8 V (12 V recommended)
• Performance characteristics:
  • Voltage: 12 V
  • Stall torque: 2.5 N.m
  • Stall current: 1.3 A
  • No-load speed: 50 rpm
  • No-load current: 0.07 A
• Resolution: 0.0879°/pulse
• Step: 4,096 pulses/rev
• Angle: 360°
• Position sensor: contactless absolute encoder (12 bits, 360°)
• Operating temperature: -5 to 80 °C
• Maxon coreless motor
• Baud rate: 9,600-4,500,000 bps
• Control algorithm: PID
• Gear type: metal spur
• Metal and engineering plastic case
• Dimensions: 28.5 × 46.5 × 34 mm
• Weight: 85 g
• Gear ratio: 212.6:1
• Digital packet command signal
• Protocol type: half-duplex asynchronous serial communication (8 bits, 1 stop, no parity)
• Link: RS485 multidrop bus
• ID: 0~252
• Feedback: position, velocity, current, real-time tick, trajectory, temperature, voltage, etc.
• Protocol type: 1.0, 2.0 (default)
• Operating mode/angle:
  • Current control: endless turn
  • Velocity control: endless turn
  • Position control: 360°
  • Extended position control: +/- 256 revolutions
  • PWM control: endless turn
• Standby current: 40 mA

Resources for the Dynamixel XD430-T210-R

Here’s all the information you’ll need for your Dynamixel XD430-T210-R actuator:

• e-manual
• Technical diagram 
• Software 
• Compatibility guide
• Selection guide
• Dynamixel SDK