Dynamixel XL430-W250-T Smart Servo

The ROBOTIS Dynamixel XL430-W250-T is a compact all-in-one smart servo actuator that integrates a cored DC motor, a 258.5:1 precision gearbox, a 12-bit contactless magnetic encoder, a motor driver, a PID controller, and a network interface into a single 57.2 g module. It delivers up to 1.5 N.m of stall torque at 12 V with a no-load speed of 61 RPM, making it suited for lightweight robotic arms, grippers, and educational platforms. Communication uses the DYNAMIXEL Protocol 2.0 (backward compatible with Protocol 1.0) over a half-duplex TTL multi-drop serial bus at baud rates from 9,600 bps to 4.5 Mbps, allowing up to 253 actuators to be daisy-chained on one bus. Onboard sensing exposes position, velocity, load, input voltage, and temperature through a register-mapped control table. Supported control modes are Velocity, Position (0 to 360 deg), Extended Position (multi-turn), and PWM, selectable at runtime. Typical applications include the ROBOTIS ENGINEER, OP3, and Bioloid kits as well as custom robot arms and wheeled drive platforms requiring lightweight, network-addressable actuation.