Robotis DYNAMIXEL XM430-W210 Leitfaden

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DYNAMIXEL PLATFORM STEAM SOFTWARE PARTS FAQ

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XM430-W210

1. Specifications

Item Specifications

MCU ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32Bit)

Position Sensor Contactless absolute encoder (12Bit, 360°)

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

Motor Coreless Motor

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

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 212.6 : 1

Stall Torque

2.7N.m @ 11.1V, 2.1A

3.0Nm @ 12.0V, 2.3A

3.7Nm @ 14.8V, 2.7A

XM430-W210

1. Specifications [+]

2. Control Table [+]

3. How to Assemble [+]

4. Maintenance [+]

5. Reference [+]

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Item Specifications

No Load Speed

70rpm @ 11.1V

77rpm @ 12.0V

95rpm @ 14.8V

Operating

Temperature -5°C ~ +80°C

Input Voltage 10.0 ~ 14.8V (Recommended : 12.0V)

Standby Current 40mA

Command

Signal Digital Packet

Protocol Type

XM430-W210-T: Half Duplex Asynchronous Serial

Communication

XM430-W210-R: RS485 Asynchronous Serial Communication

(8bit, 1stop, No Parity)

Physical

Connection

XM430-W210-T: TTL Level Multidrop BUS

XM430-W210-R: RS485 Multidrop BUS

ID 0 ~ 252

Feedback Position, Velocity, Current, Realtime tick, Trajectory,

Temperature, Input Voltage, etc

Part Material Full Metal Gear

Metal(Front, Middle), Engineering Plastic(Back)

1. 1. Performance Graph

Note The max torque measurement method for the Stall Torque and

Performance Graph is different. Stall torque is measured from the

max torque that it can reach. This is generally how RC servos

measure their torque. For the Performance graph with the N-T

curves, it is measured with the load gradually increasing. The motor

operation environment is closer to the performance graph, not stall

torque method. This is probably why the performance graph is being

broadly used in the industrial market. This is why the max torque of

the performance grap can actually be less than the stall torque.

XM430-W210

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Caution When connecting to power supply, it is recommended

using ROBOTIS controller or SMPS2DYNAMIXEL. Do not connect or

disconnect DYNAMIXEL when power is being supplied.

2. Control Table

The Control Table is a structure of data implemented in the

DYNAMIXEL. Users can read a specific Data to get status of the

DYNAMIXEL with Read Instruction Packets, and modify Data as well

to control DYNAMIXEL with WRITE Instruction Packets.

2. 1. Control Table, Data, Address

The Control Table is a structure that consists of multiple Data

fields to store status of the DYNAMIXEL or to control the

DYNAMIXEL. Users can check current status of the DYNAMIXEL

by reading a specific Data from the Control Table with Read

Instruction Packets. WRITE Instruction Packets enable users to

control the DYNAMIXEL by changing specific Data in the Control

Table. The Address is a unique value when accessing a specific

Data in the Control Table with Instruction Packets. In order to

read or write data, users must designate a specific Address in the

Instruction Packet. Please refer to Protocol 2.0 for more details

about Instruction Packets.

Note Two’s complement is applied for the negative value. For more

information, please refer to Two’s complement from Wikipedia.

2. 1. 1. Area (EEPROM, RAM)

The Control Table is divided into 2 Areas. Data in the RAM

Area is reset to initial values when the power is reset(Volatile).

On the other hand, data in the EEPROM Area is maintained

even when the DYNAMIXEL is powered off(Non-Volatile). Data

in the EEPROM Area can only be written to if Torque

Enable(64) is cleared to ‘0’(Off).

2. 1. 2. Size

The Size of data varies from 1 to 4 bytes depend on their

usage. Please check the size of data when updating the data

with an Instruction Packet. For data larger than 2 bytes will be

saved according to Little Endian.

2. 1. 3. Access

The Control Table has two different access properties. ‘RW’

property stands for read and write access permission while ‘R’

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stands for read only access permission. Data with the read

only property cannot be changed by the WRITE Instruction.

Read only property(‘R’) is generally used for measuring and

monitoring purpose, and read write property(‘RW’) is used for

controlling DYNAMIXEL.

2. 1. 4. Initial Value

Each data in the Control Table is restored to initial values when

the DYNAMIXEL is turned on. Default values in the EEPROM

area are initial values of the DYNAMIXEL (factory default

settings). If any values in the EEPROM area are modified by a

user, modified values will be restored as initial values when

the DYNAMIXEL is turned on. Initial Values in the RAM area

are restored when the DYNAMIXEL is turned on.

2. 2. Control Table of EEPROM Area

Address Size

(Byte) Data Name Description Access Initial

Value

0 2 Model Number Model Number R 1030

2 4 Model Information Model Information R -

6 1 Firmware Version Firmware Version R -

7 1 ID DYNAMIXEL ID RW 1

8 1 Baud Rate Communication

Speed RW 1

9 1 Return Delay Time Response Delay

Time RW 250

10 1 Drive Mode Default Rotation

Direction RW 0

11 1 Operating Mode Operating Mode RW 3

12 1 Secondary(Shadow)

Secondary(Shadow)

ID RW 255

13 1 Protocol Version Protocol Version RW 2

20 4 Homing Offset Home Position

Offset RW 0

24 4 Moving Threshold

Velocity Threshold

for Movement

Detection

RW 10

31 1 Temperature Limit Maximum Internal

Temperature Limit RW 80

32 2 Max Voltage Limit Maximum Input

Voltage Limit RW 160

XM430-W210

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Address Size

(Byte) Data Name Description Access Initial

Value

34 2 Min Voltage Limit Minimum Input

Voltage Limit RW 95

36 2 PWM Limit Maximum PWM

Limit RW 885

38 2 Current Limit Maximum Current

Limit RW 1193

40 4 Acceleration Limit Maximum

Accleration Limit RW 32767

44 4 Velocity Limit Maximum Velocity

Limit RW 480

48 4 Max Position Limit Maximum Position

Limit RW 4095

52 4 Min Position Limit Minimum Position

Limit RW 0

63 1 Shutdown Shutdown Error

Information RW 52

2. 3. Control Table of RAM Area

Address Size

(Byte) Data Name Description Access Initial

Value

64 1 Torque

Enable Motor Torque On/Off RW 0

65 1 LED Status LED On/Off RW 0

68 1 Status Return

Level

Select Types of Status

Return RW 2

69 1 Registered

Instruction

Check Reception of

Instruction R 0

70 1 Hardware

Error Status Hardware Error Status R 0

76 2 Velocity I

Gain I Gain of Velocity RW 1920

78 2 Velocity P

Gain P Gain of Velocity RW 100

80 2 Position D

Gain D Gain of Position RW 0

82 2 Position I

Gain I Gain of Position RW 0

84 2 Position P

Gain P Gain of Position RW 800

XM430-W210

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Address Size 
(Byte) Data Name Description Access Initial 
Value
88 2 Feedforward
2nd Gain
2nd Gain of Feed-
Forward RW 0
90 2 Feedforward
1st Gain
1st Gain of Feed-
Forward RW 0
98 1 Bus
Watchdog
DYNAMIXEL Bus
Watchdog RW 0
100 2 Goal PWM Target PWM Value RW -
102 2 Goal Current Target Current Value RW -
104 4 Goal Velocity Target Velocity Value RW -
108 4 Profile
Acceleration
Acceleration Value of
Profile RW 0
112 4 Profile
Velocity Velocity Value of Profile RW 0
116 4 Goal Position Target Position Value RW -
120 2 Realtime Tick Count Time in
millisecond R -
122 1 Moving Movement Status R 0
123 1 Moving
Status
Detailed Information of
Movement Status R 0
124 2 Present PWM Current PWM Value R -
126 2 Present
Current Current Current Value R -
128 4 Present
Velocity Current Velocity Value R -
132 4 Present
Position Current Position Value R -
136 4 Velocity
Trajectory
Target Velocity
Trajectory Generated by
Profile
R -
140 4 Position
Trajectory
Target Position
Trajectory Generated by
Profile
R -
144 2 Present Input
Voltage Current Input Voltage R -
146 1 Present
Temperature
Current Internal
Temperature R -
168 2 Indirect
Address 1 Indirect Address 1 RW 224
170 2 Indirect
Address 2 Indirect Address 2 RW 225
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Address Size

(Byte) Data Name Description Access Initial

Value

172 2 Indirect

Address 3 Indirect Address 3 RW 226

… … … … … …

218 2 Indirect

Address 26 Indirect Address 26 RW 249

220 2 Indirect

Address 27 Indirect Address 27 RW 250

222 2 Indirect

Address 28 Indirect Address 28 RW 251

224 1 Indirect Data

1Indirect Data 1 RW 0

225 1 Indirect Data

2Indirect Data 2 RW 0

226 1 Indirect Data

3Indirect Data 3 RW 0

… … … … … …

249 1 Indirect Data

26 Indirect Data 26 RW 0

250 1 Indirect Data

27 Indirect Data 27 RW 0

251 1 Indirect Data

28 Indirect Data 28 RW 0

578 2 Indirect

Address 29 Indirect Address 29 RW 634

580 2 Indirect

Address 30 Indirect Address 30 RW 635

582 2 Indirect

Address 31 Indirect Address 31 RW 636

… … … … … …

628 2 Indirect

Address 54 Indirect Address 54 RW 659

630 2 Indirect

Address 55 Indirect Address 55 RW 660

632 2 Indirect

Address 56 Indirect Address 56 RW 661

634 1 Indirect Data

29 Indirect Data 29 RW 0

635 1 Indirect Data

30 Indirect Data 30 RW 0

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Address Size

(Byte) Data Name Description Access Initial

Value

636 1 Indirect Data

31 Indirect Data 31 RW 0

… … … … … …

659 1 Indirect Data

54 Indirect Data 54 RW 0

660 1 Indirect Data

55 Indirect Data 55 RW 0

661 1 Indirect Data

56 Indirect Data 56 RW 0

Caution Protocol 1.0 does not support addresses greater than 256.

Therefore, Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can

only be accessed with Protocol 2.0.

2. 4. Control Table Description

Caution Data in the EEPROM Area can only be written when the

value of Torque Enable(64) is cleared to ‘0’.

2. 4. 1. Model Number(0)

This address stores model number of the DYNAMIXEL.

2. 4. 2. Firmware Version(6)

This address stores firmware version of the DYNAMIXEL.

2. 4. 3. ID(7)

The ID is a unique value in the network to identify each

DYNAMIXEL with an Instruction Packet. 0~252 (0xFC) values

can be used as an ID, and 254(0xFE) is occupied as a

broadcast ID. The Broadcast ID(254, 0xFE) can send an

Instruction Packet to all connected DYNAMIXELs

simultaneously.

Note Please avoid using an identical ID for multiple

DYNAMIXELs. You may face communication failure or may not be

able to detect Dynamixels with an identical ID.

2. 4. 4. Baud Rate(8)

Baud Rate determines serial communication speed between a

controller and DYNAMIXELs.

Value Baud Rate Margin of Error

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Value Baud Rate Margin of Error

7 4.5M 0.000%

6 4M 0.000%

5 3M 0.000%

4 2M 0.000%

3 1M 0.000%

2 115,200 0.000%

1(Default) 57,600 0.000%

0 9,600 0.000%

Note Less than 3% of the baud rate error margin will not affect

to UART communication.

2. 4. 5. Return Delay Time(9)

After the DYNAMIXEL receives an Instruction Packet, it delays

transmitting the Status Packet for Return Delay Time (9). For

instance, if the Return Delay Time(9) is set to ‘10’, the Status

Packet will be returned after 20[μsec] when the Instruction

Packet is received.

Unit Value

Range Description

2[μsec] 0 ~ 254 Default value ‘250’(500[μsec]), Maximum

508[μsec]

2. 4. 6. Drive Mode(10)

Drive Mode is availabe from the firmware version 38.

Bit Item Description

Bit 1(0x02) ~

7(0x80) N/A Unused, always ‘0’

Bit 0(0x01) Direction of

Rotation

Normal Mode(0): CCW(Positive),

CW(Negative)

Reverse Mode(1): CCW(Negative),

CW(Positive)

2. 4. 7. Operating Mode(11)

Value Operating

Mode Description

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Value Operating

Mode Description

Current

Control

Mode

DYNAMIXEL only controls current(torque)

regardless of speed and position. This mode

is ideal for a gripper or a system that only

uses current(torque) control or a system

that has additional velocity/position

controllers.

Velocity

Control

Mode

This mode controls velocity. This mode is

identical to the Wheel Mode(endless) from

existing DYNAMIXELs. This mode is ideal for

wheel-type robots.

3(Default)

Position

Control

Mode

This mode controls position. This mode is

identical to the Joint Mode from existing

DYNAMIXELs. Operating position range is

limited by Max Position Limit(48) and Min

Position Limit(52). This mode is ideal for

articulated robots that each joint rotates

less than 360 degrees.

Extended

Position

Control

Mode(Multi-

turn)

This mode controls position. This mode is

identical to the Multi-Turn Mode from

existing DYNAMIXELs. 512 turns are

supported(-256[rev] ~ 256[rev]). This mode

is ideal for multi-turn wrists or conveyer

systems or a system that requires an

additional reduction gear.

Current-

based

Position

Control

Mode

This mode controls both position and

current(torque). Up to 512 turns are

supported(-256[rev] ~ 256[rev]). This mode

is ideal for a system that requires both

position and current control such as

articulated robots or grippers.

PWM

Control

Mode

(Voltage

Control

Mode)

This mode directly controls PWM output.

(Voltage Control Mode)

Note Switching Operating Mode will reset gains(PID,

Feedfoward) properly to the selected Operating Mode. The

profile generator and limits will also be reset.

1. Profile Velocity(112), Profile Acceleration(108) : Reset to ‘0’

2. Goal PWM(100), Goal Current(102) : Reset to PWM Limit(36),

Current Limit(38) respectively

3. Current-based Position Control Mode : Reset to Position

Gain(PID) and PWM Limit(36) values.

Changed Position Gain(PID) and PWM Limit(36) values can be

read from the Control Table.

XM430-W210

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