dynamixel-xd430-t210-r
dynamixel-xd430-t210-r by Robotis Us. Compare source-backed specifications, prices, project usage, files and product links.
Product source: https://www.robotis.us/dynamixel-xd430-t210-r
Component facts
- Category: electronics
- Manufacturer: Robotis Us
- Observed catalog price: USD 632.39 (observed estimate, not a binding quote)
- Last updated: 2026-08-09
Source specifications (40)
| Axial load | 20 [N] |
|---|---|
| Backlash | 15 [arcmin] (0.25 [°]) |
| Baud rate | 9,600 [bps] ~ 4.5 [Mbps] |
| Case material | Metal (Front, Middle), Engineering Plastic (Back) |
| Command signal | Digital Packet |
| Connector | Connector Information 4 |
| Connector | 4p Cable (JST-JST) Robot Cable-X4P (Convertible) 180mm 1 RS485 4p Cable (MOLEX-JST) Bolt M2 |
| Continuous Torque | 0.5 Nm |
| Control algorithm | PID control |
| Current | 40 mA |
| Dimensions (W x H x D) | 28.5 x 46.5 x 34 [mm] mm |
| Dimensions | Dimensions (W x H x D) 28.5 x 46.5 x 34 [mm] mm |
| Dimensions | 28.5x46.5x34mm |
| Feedback | Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc |
| Feedback | Contactless absolute encoder |
| Gear material | Full Metal Gear |
| Gear ratio | 212.6 : 1 |
| Gear Ratio | 34 |
| Height | 46.5 mm |
| Input voltage | 10.0 ~ 14.8 [V] (**Recommended : 12.0 [V]**) |
| Interface | PWM, RS-485 |
| MCU | ARM CORTEX-M3 (72 [MHz], 32Bit) |
| Motor | Coreless(Maxon) |
| No-load speed | 46 [rev/min] (at 11.1 [V])<br />**50 [rev/min] (at 12.0 [V])**<br />62 [rev/min] (at 14.8 [V]) rev/min |
| Operating modes | Current Control Mode<br />Velocity Control Mode<br />Position Control Mode (0 ~ 360 [°])<br />Extended Position Control Mode (Multi-turn)<br />Current-based Position Control Mode<br />PWM Control Mode (Voltage Control Mode) |
| Operating Temperature | -5-80 C |
| Operating temperature | -5 ~ +80 [°C] |
| Peak Torque | 0.5 Nm |
| Physical connection | RS-485 Multidrop Bus |
| Position sensor | Contactless absolute encoder (12Bit, 360 [°])<br />Maker : ams(www.ams.com), Part No : AS5045 |
| Protocol | RS-485, Protocol 2.0, Protocol 1.0 |
| Protocol | RS-485 |
| Protocol type | RS-485 Asynchronous Serial Communication<br />(8bit, 1stop, No Parity) |
| Radial load | 40 [N] (10 [mm] away from the horn) |
| Resolution | 4096 [pulse/rev] |
| Resolution | 4096 Steps Backlash: 15 arcminutes Weight: 85g Input Voltage: 12v Standby Current: 40mA Stall Current: 1 |
| ROS | ROS1 |
| No-load Speed | 50 rpm |
| Stall Current | 40 A |
| Stall torque | 2.2 [N.m] (at 11.1 [V], 1.2 [A], 1.833 [Nm/A])<br />**2.5 [N.m] (at 12.0 [V], 1.3 [A], 1.923 [Nm/A])**<br />3.1 [N.m] (at 14.8 [V], 1.5 [A], 2.067 [Nm/A]) N·m |
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