Dynamixel XM430-W350-T Smart Actuator

The ROBOTIS Dynamixel XM430-W350-T is an all-in-one smart servo actuator that integrates a coreless DC motor, a 353.5:1 metal spur gearbox, a 32-bit ARM Cortex-M3 MCU, a motor driver, and a contactless absolute encoder into a single compact aluminum housing. It delivers up to 4.1 N.m of stall torque at 12 V with a no-load speed of 46 RPM, providing high torque in a small 82 g form factor. The actuator communicates over a TTL half-duplex multidrop bus using DYNAMIXEL Protocol 1.0 or 2.0 at baud rates from 9,600 bps to 4.5 Mbps, supporting up to 253 daisy-chained units on one bus. A 12-bit (4096 steps/rev) contactless position encoder plus current sensing enable six closed-loop control modes: Current, Velocity, Position, Extended Position, Current-Based Position, and PWM. Typical applications include multi-DOF robot arms, bipedal platforms, grippers, and research manipulators where networked, multi-mode smart actuation is required.