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■   Basic Features

The DYNAMIXEL X-Series is a new line-up of high performance networked actuators.

The Dynamixel XL series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure. The XL series has the same mechanical structure as the XM430 and XH430 and is compatible with the respective models.

  • Improved Torque, Compact Design
  • Enhanced Durability and Expandability
  • Hollow Back Case Minimizes Cable Stress (3-Way Wiring)
  • Frames Directly Screwed onto the Case (No Nuts Needed)
  • Energy Efficient with Improved Operation Time

■   Package Contents

Description Quantity
HORN HN11-N101 (Pre-assembled) 1
CABLE Robot Cable-X3P 180mm 1
BOLT/NUT Bolt (M2.6*5) TAP 5
Bolt (M2*5) 5
ETC Spacer Ring 5

■   H/W Specifications

Model Name XL430-W250-T
Weight (g) 57.2
Dimension (mm) 28.5 x 46.5 x 34
Gear Ratio 258.5 : 1
Operation Voltage (V) 9.0 11.1 12.0
Stall Torque (N.m) 1.0 1.4 1.5
Stall Current (A) 1.0 1.3 1.4
No Load Speed (RPM) 47 57 61
Position Sensor Contactless absolute encoder (12BIT,360°) by AMS
Motor Cored
Resolution 0.088° x 4,096 steps
Operating Range Velocity Control Mode : Endless turn
Position Control Mode : 360[deg]
Extended Control Mode : ±256[rev]
PWM Control Mode : Endless turn
Input Voltage (V) 6.5~12.0V (Recommended voltage : 11.1V)
Operating Temperature -5°C ~ 72°C
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity)
Link (physical) TTL Level Multi Drop Bus
ID 253 ID (0~252)
Baud Rate 9600 bps ~ 4.5 Mbps
Feedback Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
Material Case : Engineering Plastic

Gear : Engineering Plastic

Standby current (mA) 52

■    Default Settings

ID : 1

Baud Rate : 57600bps

*Please make necessary modifications to ID, baud rate, etc. after purchase.

■   Various Cabling Methods


Caution – Cable Assembly through Hollow Case 

Assemble the cable so that it does not tangle.

Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error.

Do not assemble both cables through the hollow case. Be sure to use one hollow.

■   Model Numbering



■ Hyperlinks


Frame, Horn, Bearing Compatible Chart : Click Here


Controller Compatibility Chart : Click Here


Download Drawing : Click Here


Dynamixel SDK : Click Here


OpenCM IDE : Click Here


Software RoboPlus (R+) : Click Here


Link to e-Manual : Click Here



■   Caution


The DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication.

For more information, please see the [DYNAMIXEL Connector Standard] page on the e-Manual.

To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.


However, the Molex-JST convertible cable is NOT included in the XL430 model.

Please purchase a convertible cable when using a controller and interface that supports the JST connector.


Controller / Interface Board Cable Dynamixel X
Model Supports Connectors : Supports Connectors : Communication
OpenCM+485 Expansion Board Molex (3P, 4P) Robot Cable-X3P 180mm (Convertible) JST-3P TTL
OpenCR1.0 JST (3P, 4P) Robot Cable -X3P (by length)
OpenCM+485 Expansion Board Molex (3P, 4P) Robot Cable -X3P 180mm (Convertible) JST-4P RS-485
OpenCR1.0 JST (3P, 4P) Robot Cable -X3P (by length)


Payment information
Payment description Original Price (HKD) Total Price(HKD) Services Fee(HKD)
Direct bank transferHK$440.00HK$440.00HK$0.00
Cheque paymentsHK$440.00HK$440.00HK$0.00
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