2XC430-W250-T

■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 2XC series can control two axis with a single module, so it can be effectively applied to robot`s neck, shoulder, hip, wrist, and ankle. The 2XC series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure. Metal gear and Coreless motor are used for high durability.
High compatibility with XL430, XM430, XH430.
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
4. Direct Screw Assembly to the Case (Some parts)
5. Energy Saving with Reduced Current

■Package Components

2XC430-W250-T	1
Robot Cable-X3P 180mm	1
Bolt M2.5x5	10
Bolt M2x5	10

※* Idler Set(HN11-I101 Set) for assembling hinge frames are not included.

■Compatible Products
Controller：OpenCM9.04 + 485 Expansion Board, OpenCR1.0, CM-550
Interface：USB2Dynamixel, U2D2

■Performance Comparison


■Specification

Model Name	2XC430-W250-T
Weight	102g
Size	36mm x 46.5mm x 36mm
Gear Rate	257.4 : 1
MCU	Cortex-M3 (72Mhz,32bit)
Position Sensor	AMS Contactless absolute encoder (12bit,360°)
Motor	Coreless
Resplution	0.088(deg/pulse) x 4,096step(pulse)
Input Voltage	6.5～14.8V (Recommended：12V)
Operating Temperature	-5℃～72℃
Command Signal	Digital Packet
Protocol Type	Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical)	TTL Level Multi Drop Bus
ID	0～253
Baud Rate	9600 bps～4.5 Mbps
Feedback	Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Standby Current	49mA

■Factory Default Settings
ID(A)：1
ID(B)：2
Baud Rate：57600bps
(User can change various settings including ID and baud rate according to environment)

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.

The DYNAMIXEL-X Series adopted a new gold-plated JST connector for secure and reliable communication.
The connector used for previous Dynamixel is Molex.

Molex-JST conversion cable is not included with the purchase of 2XC430 Dynamixel, so you must purchase Molex-JST conversion cable separately to connect to the existing controller (OpenCM 485 expansion board, USB2Dynamixel).