■ Basic 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 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. Direct Screw Assembly to the Case (without Nut Insert)
6. Energy Saving (Reduced Current from 100mA to 40mA)
7. 28.4% reduced volume compared to the MX-106
8. Support synchronous control mode
9. Support external I / O port support
■ Package Contents
Teflon Washer (for Horn Assembly)
Robot Cable-X3P 180mm
Robot Cable-X3P (Convertible) 180mm
3P Sync Cable 160MM
Wrench Bolt (WB M2.5*5)
Wrench Bolt (WB M2.5*4)
Wrench Bolt (WB M3*8)
■ Performance Comparison
■ H/W Specifications
Controller : OpenCM 485 Expansion Board, OpenCR1.0
Interface : USB2Dynamixel, U2D2
■ Default Settings
ID : 1
Baud Rate : 57600bps
*Please make necessary modifications to ID, baud rate, etc. after purchase.
■ Various Cabling Methods
■ Performance Comparison
■ Model Numbering
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.
If you use two cables through the hollow case, the cables will be damaged.
Use only one cable through the hollow case.
The DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication.
The connector used for previous Dynamixel is Molex.
To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.
However, the Molex-JST convertible cable is NOT included in the XL430 model.
Please purchase a convertible cable when using a controller and interface that supports the JST connector.
Controller / Interface Board
Supports Connectors :
OpenCM+485 Expansion Board
Molex (3P, 4P)
Robot Cable-X3P 180mm (Convertible)
JST (3P, 4P)
Robot Cable -X3P (by length)
Robot Cable -X4P 180mm (Convertible)
Robot Cable -X4P (by length)
Frame, Horn, Bearing Compatible Chart : Click Here
Controller Compatibility Chart : Click Here
Download Drawing : Click Here
Dynamixel SDK : Click Here
OpenCM IDE : Click Here
Software RoboPlus (R+) : Click Here
Link to e-Manual : Click Here