Dynamixel XH430-W350-R Servo

Robotis | A-000000-02488

To obtain the most innovative articulated robotics platforms, you need a talented designer (check!) and high-performance servos such as the XH430-W350-R, the latest creation of the Robotis team.

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Opt for the very best in velocity, position, and PWM control

The new XH-series Dynamixel servos by Robotis (the H standing for High-performance) opens up a whole new range of possibilities for controlling your robot’s movement, trajectory or speed. These servos offer no fewer than 6 operating modes:

  • Current control mode (the position is calculated based on current variations)
  • Velocity control mode
  • Position control mode (0-360°)
  • Extended position control mode (multi-turn)
  • PWM (pulse-width modulation) control mode (voltage control mode)


Dynamixel XM430-W210 servomotor - key names

Robotis has also put together an exclusive advanced control table for controlling and editing a large array of data. This control table is available on Windows, Mac, or Linux.

As usual, you can use your PC (Windows, Mac, or Linux) with the USB2Dynamixel or a suitable microcontroller to control your Dynamixel servo (see below th elist of the required components):

Numerous mounting possibilities

The Dynamixel XH servo has a robust, yet compact design, and is more energy-efficient. Also, it increases your mounting possibilities as the connecting cables can be set up in three different positions (keeping them out of the way when the servo is on). What’s more, you can mount your servo on its articulated structure in many ways.

Dynamixel XM430-W210 servomotor - cabling methods

Technical specifications of the XH430-W350-R Servo

  • Microcontroller: ST CORTEX-M3 (STM32F103C8 @ 72 MHz, 32 bit)
  • Position sensor: Contactless Absolute Encoder (AMS, 12 bit, 360°)
  • Motor: Maxon
  • Transmission rate: 9,600 bps ~ 4.5 Mbps
  • Control algorithm: PID
  • Degree of precision: 0.088°
  • Weight: 82 g
  • Dimensions: 28.5 × 46.5 × 34 mm
  • Reduction ratio: 353.5:1
  • Torque:
  • 3.1 N.m @ 11.1V, 1.2A
  • 3.4 N.m @ 12V, 1.3A
  • 4.2 N.m @ 14.8V, 1.5A
  • No-load speed:
  • 27 rpm (@ 11.1V)
  • 30 rpm (@ 12V)
  • 37 rpm (@ 14.8V)
  • Operating temperature: -5 °C ~ +80 °C
  • Input voltage: 10 ~ 14.8V (recommended: 12V)
  • Control signal: digital packet
  • Protocol: RS485 asynchronous serial communication (8 bit, 1 stop, no parity)
  • Connection: RS485 multi-drop bus
  • Feedback: position, velocity, current, real-time tick, trajectory, temperature, input voltage, etc.
  • Standby current: 40 mA
  • Metal gear
  • Case in aluminium and engineering plastic
  • Comes with:
  • 1 x XH430-W350-R Servo
  • 1 x HN12-N101 horn assembly
  • 1 x Teflon washer
  • 1 x 180 mm X4P cable
  • 1 x 180 mm X4P convertible cable
  • 16 x 2.5.x4 wrench bolts
  • 1 x 2.5.x8 wrench bolt
  • 10 x 2x3 wrench bolts
  • 8 x spacer rings
How to choose the right Dynamixel servomotor?

Resources for the Dynamixel XM430-W350-R servo

You are probably eager to test your Dynamixel XH servo, but do take a few minutes to check these useful links!

Data sheet
Tension de fonctionnement [V]
10 - 14.8 V
Couple de décrochage [N-m]
3 - 4.9
Courant de décrochage [A]
1 - 1.4 A
Vitesse à vide [rpm]
30 - 39
Protocole de communication
    My Dynamixel servomotor is not detected, what can I do about it ?

    Check that your Dynamixel servomotor is correctly configured. Do not hesitate to re-flash it with the ROBOTIS Software Roboplus. After re-flash remember to re-configure it. If the issue is not solved, contact us for an advanced support.

    My motor works but it seems like there is an offset. Why ?

    The motor is probably not well mounted. Check that you correctly mounted the horns by respecting the mark.

    My Dynamixel servomotor seems blocked. I can't turn it even when it is not alimented.

    There is probably a mechanical issue with the Dynamixel servomotor. You can directly contact us to get more advance support.

    My Dynamixel servomotor is not working properly.

    Check your power supply and the system cabling (try with a different servomotor). You can also reset the servo. If nothing works, the best solution is to go through the Dynamixel servomotor checklist!

    What is the difference between Protocol 1.0 and Protocol 2.0?

    The 1.0 protocol is specific to the Dynamixel AX and MX series. Protocol 2.0 has been developed with the new X series and Dynamixel Pro. Protocol 2.0 control tables include PID controls for extremely precise adjustment of servo movements. The firmware of the MX series servos can be upgraded to use protocol 2.0. You can refer to the protocol 1.0 and protocol 2.0 pages for more information.

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