Dynamixel 2-Axis Actuator 2XL430-W250-T

2-axis Dynamixel servo: 2 axes, 2 addresses

The Dynamixel 2XL430-W250-T actuator is a 2-axis Robotis Dynamixel servo, giving 2 degrees of freedom. Each axis is assigned a specific address, allowing you to use your servo motor in numerous ways. But there is a single baud rate.

The 2XL430-W250-T model offers the same features as the Dynamixel XL servos. It has a large variety of control modes and a broad feedback range. You can determine speed, torque, voltage and trajectories from a control table, ensuring ultra-precise control of your creations.

This 100% programmable 2-axis actuator is created from quality materials, to improve heat dissipation and ensure a robust, long-lasting device. Its design allows it to be used in various assembly configurations, while limiting cable wear.

Communication and compatibility

The Dynamixel 2XL430-W250-T servo has a TTL connection. It comes with an 18 cm X3P robot cable for connecting your servo to its controller. Please note that the connector on the Dynamixel X servos has changed. These models now have a gold-plated JST connector for more stable and reliable communication. If you want to connect your servo to a controller compatible with the previous series, you will therefore need to get your hands on a Molex-JST cable.

The Robotis 2XL430-W250-T servo is compatible with:

• OpenCM9.04 485 (expansion board), OpenCR1.0 and CM-550 controllers
• all XL430, XM430 and XH430 servos
• the U2D2 communication converter

Idler Set(HN11-I101 Set) for assembling hinge frames are not included.

Technical specifications of the 2XL430-W250-T servo

• Cortex M3 microcontroller (72 MHz, 32 bits)
• Input voltage: 6.5~12V (recommended: 11.1V)
• Voltage rating: 11.1V
• Starting torque: 1.4 Nm
• Starting current: 1.3A
• No-load speed: 57 rpm
• No-load current: 0.05A
• Resolution: 0.0879°/step; 4.096 steps; 360°
• Position sensor: absolute contactless encoder (12 bits, 360°)
• Operating temperature: -5 to 72°C
• Cored motor
• Baud rate: 9600–4,500,000 bps
• PID control algorithm
• Gear type: spur
• Gear material: power-metallurgy
• Case material: engineering plastic
• Dimensions: 36 x 46.5 x 36 mm
• Weight: 98.20 g
• Reduction ratio: 257:1
• Control signal: digital packets
• Protocol type: half-duplex asynchronous serial communication (8 bits, 1 stop, no parity)
• Connection: TTL level multi-drop bus
• IDs: 0-253
• Feedback: position, velocity, loading, real-time tick, trajectory, temperature, input voltage, etc.
• Protocol version: 2.0 (default)
• Operating angle/mode:
  • Velocity control mode: endless turn
  • Position control mode: 360°
  • Extended position control mode: +/- 256 revolutions
  • PWM control mode: endless turn
  • Standby current: 46 mA

Resources for the 2XL430-W250-T Robotis servo

We’ve listed below all the Dynamixel resources you’ll need to gain absolute control over your 2XL430-W250-T servo:

• E-Manual
• Schematics
• Software
• Compatibility guide
• Selection guide
• Dynamixel SDK
• An awesome video for an hexapod robot project with XL430-W250-T and 2XL430-W250-T Dynamixel servos!