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Appendix #DYNAMIXEL

Overview

DYNAMIXEL X-Series is a new line-up of high performance networked actuator module, which has been widely used for building various types of robots with reliability and expandability. Two different types of DYNAMIXEL is adopted in TurtleBot3 Burger and Waffle as they have different requirements. DYNAMIXEL X-Series shares its design, therefore, users can replace actuators depend on applications.

Note : Control Functions may vary by models

Specifications

Items XL430-W250 (for Burger) XM430-W210 (for Waffle)
Microcontroller <td colspan=2> ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32bit) </td>    
Position Sensor <td colspan=2> Contactless Absolute Encoder (12bit, 360°) </td>    
Motor Cored Motor Coreless Motor
Baud Rate 9600 bps ~ 4.5 Mbps  
Control Modes Velocity, Position, Extended Position, PWM Velocity, Position, Extended Position, PWM, Current, Current-base Position
Gear Ratio 258.5 : 1 212.6 : 1
Stall Torque 1.0 N.m (@ 9V, 1A) 2.7 N.m (@ 11.1V, 2.1A)
  1.4 N.m (@ 11.1V, 1.3A) 3.0 N.m (@ 12V, 2.3A)
  1.5 N.m (@ 12V, 1.4A) 3.7 N.m (@ 14.8V, 2.7A)
No Load Speed 47rpm (@ 9V) 70rpm (@ 11.1V)
  57rpm (@ 11.1V) 77rpm (@ 12V)
  61rpm (@ 12V) 95rpm (@ 14.8V)
Communication TTL Level Multi Drop Bus TTL Level / RS485 Multi Drop Bus
Material Engineering Plastic Full Metal Gear, Metal Body, Engineering Plastic
Standby Current 52mA 40mA

More information for actuators can be found at below ROBOTIS e-Manual links.