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Availability: In stock

Exc. VAT: £175.08 Inc. VAT: £210.10



Quick overview

The DYNAMIXEL XM430-W210-R is a high performance networked actuator module which can be used for building multi-jointed robots with reliability and expandibility.


DYNAMIXEL XM430-W210-R [902-0119-000]


The DYNAMIXEL XM430-W210-R is a high performance networked actuator module which can be used for building multi-jointed robots with realiability and expandibility. An aluminium heatsink provides enhanced durability over extended use. The frame is screwed flush onto the case for a compact profile.  3-Way-Routing lets you reduce cable stress in your robotic systems. With gold platted connector pins, six operation modes, advanced control table and profile generation this is a motor for both amateurs and professionals. 


  • 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)
  • Improved Aluminum Case Heat Sink
  • 6 Operating Modes
  • Current-Based Torque Control (4096 steps, 2.69mA/step)
  • Profile Control for Smooth Motion Planning
  • Trajectory Data and Moving Status (In-Position, Following Error, etc.)
  • Energy Efficient (Standby Current Reduced from 100mA to 40mA)

Key Features



Model Number XM430-W210-R
Weight (g) 82
Dimensions (mm) 28.5 x 46.5 x 34
Gear Ratio 212.6 : 1
Operating Voltage (V) 11.1 12 14.8
Stall Torque (N.m) 2.7 3.0 3.7
Stall Current (A) 2.1 2.3 2.6
No Load Speed (RPM) 70 77 95
MCU ST CORTEX-M3 ( STM32F103C8 @ 72MHZ, 32BIT)
Position Sensor Contactless Absolute Encoder (12bit, 360°) by AMS
Motor Coreless Motor
Resolution 0.088° x 4,096 steps
Operating Range Position Control Mode : 360°
Extended Position Control Mode : 512 turns
Velocity Control Mode : Endless Turn
Input Voltage (V) 10~14.8 (Recommended : 12)
Operating Temperature (°C) -5 ~ 80
Command Signal Digital Packet
Protocol Type RS485 Asynchronous Serial Communication
(8bit, 1stop, No Parity)
Link (Physical) RS485 Multidrop Bus (Daisy Chain)
ID 253 (0~252)
Baud Rate 9600 bps ~ 4.5 Mbps
Feedback Position, Velocity, Current, Real-Time Tick, Trajectory, Temperature, Input Voltage, etc.
Material Case : Metal (Front, Middle) Engineering Plastic (Back)
Gear : Metal
Standby current (mA) 40

Useful Links

Frame, Horn, Bearing Compatible 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


Shipping List

Item Quantity
Dynamixel XM430-W210-R 1
HN12-N101 Horn 1
Teflon Washer (for Horn Assembly) 1
Robot Cable-X4P 180mm 1
Robot Cable-X4P (Convertible) 180mm 1
Wrench Bolt (WB M2.5*4) 16
Wrench Bolt (WB M2.5*6) 1
Wrench Bolt (WB M2*3) 10
Spacer Ring 8


EAN / UPC: 8809052935733
Manufacturer part No: 902-0119-000