Robotis XH430-W350-T Manual

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2/22/2018

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ROBOTIS e-Manual v1.31.30

XH430-W350-T / XH430-W350-R

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H/W Specification

MCU : ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT)

POSITION SENSOR : Contactless absolute encoder (12BIT,360 DEGREE)

Maker : ams (www.ams.com), Part No : AS5045

Motor : Coreless(Maxon)

Baud Rate : 9600 bps ~ 4.5 Mbps

Control Algorithm : PID CONTROL

Degree of Precision : 0.088°

Operating Modes

Current Control Mode

Velocity Control Mode

Position Control Mode (0° ~ 360°)

Extended Position Control Mode(Multi-turn)

Current-based Position Control Mode

PWM Control Mode(Voltage Control Mode)

Weight : 82g

Dimensions(W x H x D) : 28.5mm x 46.5mm x 34mm

Gear Ratio : 353.5 : 1

Stall Torque

3.1N.m (at 11.1V, 1.2A)

3.4N.m (at 12.0V, 1.3A)

4.2N.m (at 14.8V, 1.5A)

No load speed

27rpm (at 11.1V)

30rpm (at 12.0V)

37rpm (at 14.8V)

Operating Temperature : -5℃ ~ +80℃

Input Voltage : 10 ~ 14.8V (Recommended : 12V)

Command Signal : Digital Packet

Protocol Type

XH430-W350-T (Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity)

XH430-W350-R (RS485 Asynchronous Serial Communication (8bit,1stop, No Parity)

Link (Physical)

XH430-W350-T (TTL Level Multi Drop Bus)

XH430-W350-R (RS485 Multi Drop Bus)

ID : 253 ID (0~252)

Feedback : Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc.

Material : Full Metal Gear, Metal Body(Front, Middle), Engineering Plastic Body(Bottom)

Standby current : 40 mA

http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm

XH430-W350

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Product Information

Actuator

Dynamixel X

XH Series

> XH430-W350

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Summary of Contents for Robotis XH430-W350-T

Page 1 Input Voltage : 10 ~ 14.8V (Recommended : 12V) Command Signal : Digital Packet Protocol Type XH430-W350-T (Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity) XH430-W350-R (RS485 Asynchronous Serial Communication (8bit,1stop, No Parity) Link (Physical) XH430-W350-T (TTL Level Multi Drop Bus)
Page 2: Control Table
Precautions when connecting to power supply! - For the stable power supply, we recommend using ROBOTIS controller or SMPS2Dynamixel. - Connect your DYNAMIXEL to power supply while it’s off and turn on/off with the power switch. Control Table The Control Table is a structure of data implemented in the Dynamixel.
Page 3 Indirect Address 28 Indirect Data 1 Indirect Data 1 Indirect Data 2 Indirect Data 2 Indirect Data 3 Indirect Data 3 … … … … … … Indirect Data 26 Indirect Data 26 Indirect Data 27 Indirect Data 27 http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 3/15...
Page 4 20[μsec] when the Instruction Packet is received. Values Description Unit 2[μsec] Range 0 ~ 254 Default value ‘250’(500[μsec]), Maximum 508[μsec] Drive Mode (10, Available after Firmware version 38) Drive Mode Definition Values Bit 7 0x80 Unused, always ‘0’ http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 4/15...
Page 5 Note : The protocol 2.0 is greatly improved from the protocol 1.0. Accessing some of the Control Table area might be denied if protocol 1.0 is selected. This manual complies with protocol 2.0. Please refer to the Protocol section of e-Manual for more details about the protocol. http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 5/15...
Page 6 Note : Bit information of the Error field in the Status Packet is different from protocol 1.0 and protocol 2.0. This manual complies with protocol 2.0. Please refer to the Protocol section of e-Manual more details about the protocol. Velocity Limit (44) This value indicates maximum velocity of Goal Velocity(104) and Profile Velocity(112). For more details, please refer to the Profile Velocity(112). Values Description http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 6/15...
Page 7 Note : If the ID of Instruction Packet is set to Broad Cast ID(0xFE), Status Packet will not be returned for READ and WRITE Instructions regardless of Status Return Level(68). For more details, please refer to the Protocol section of e-Manual. Registered Instruction (69) This value will be set to ‘1’ when Dynamixel receives REG_WRITE Instruction Packet and processing ACTION Instruction Packet will clear the value to ‘0’. http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 7/15...
Page 8 ⑤ Goal PWM(100) sets a limit on the calculated PWM output and decides the final PWM value. ⑥ The final PWM value is applied to the motor through an Inverter, and the horn of Dynamixel is driven. ⑦ Results are stored at Present Position(132), Present Velocity(128), Present PWM(124) and Present Current(126). http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 8/15...
Page 9 ① After setting the operating mode (11) to speed control mode, change the Torque Enable (64) to '1'. ② If '50' is written in the Goal Velocity (104), the Dynamixel will rotate in CCW direction. ③ Change the value of Bus Watchdog (98) to '100' (2,000 [ms]). (Activate Bus Watchdog Function) http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 9/15...
Page 10 ③ Types of Profile is decided based on Profile Velocity(112), Profile Acceleration(108) and total travel distance(ΔPos, the distance difference between target position and current position) Condition Types of Profile V PRFL(112) = 0 Profile not used (Step Instruction) (V PRFL(112) ≠ 0) & (A PRF(108) = 0) Rectangular Profile http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 10/15...
Page 11 This value indicates whether Dynamixel is in motion or not. If absolute value of Present Velocity(128) is greater than Moving Threshold(24), Moving(122) is set to '1'. Otherwise, it will be cleared to '0'. However, this value will always be set to '1' regardless of Present Velocity(128) while Profile is in progress with Goal Position(116) instruction. Moving Description Movement is not detected http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 11/15...
Page 12 B. Indirect Address 3(172) : change the value to '117' which is the first address of Goal Position. C. Indirect Address 4(174) : change the value to '118' which is the first address of Goal Position. D. Indirect Address 5(176) : change the value to '119' which is the first address of Goal Position. http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 12/15...
Page 13 Note 1) : In order to allocate Data in the Control Table longer than 2[byte] to Indirect Address, all address must be allocated to Indirect Address like the above Example 2. Note 2) : Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can only be accessed with Protocol 2.0. Wiring Instructions through hollow back case http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 13/15...
Page 14 Caution for 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. Combination http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 14/15...
Page 15 2/22/2018 XH430-W350 Dimension Drawing Information : X-430_std_ref.pdf Frame Compatibility Guide(LINK) Error Report ROBOTIS Copyrights (c) 2010 All rights reserved. http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w350_main.htm 15/15...

This manual is also suitable for:

Xh430-w350-r