Trossen Robotics - WidowX XM430 Robot Turret

Availability: Available to Backorder

Exc. VAT: £943.58 Inc. VAT: £1,132.30

SKU:

TR-IL-WXT-S

Quick overview

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Description

The WidowX XM430 Robot Turret is a fully programmable pan and tilt system designed around the DYNAMIXEL DYNAMIXEL XM-430-W350-T servos from Robotis. The servos offer a high resolution of 4096 positions and user definable PID parameters. Temperature monitoring, positional feedback as well as voltage levels, load and compliance settings are all user accessible as well. The WidowX XM430 Turret comes with the DYNAMIXEL U2D2 for ROS control and the CM9.04c for Serial Firmware control.

Please note: The WidowX XM430 Turret will not hold position if power to the unit is lost, any equipment mounted may be damaged if not properly secured. Please use caution when mounting equipment that may be fragile or prone to damage if the turret loses power.

Software Control


Overview	Packages for Ubuntu 16.04 & ROS Kinetic / Ubuntu 18.04 & ROS Melodic Contains Meshes, URDF, Inertial values, driver node as well as Gazebo config / Moveit config and examples / demos.	The Interbotix Serial Firmware allows users to control the turret through the use of serial over USB.	The ROBOTIS Dynamixel SDK is a software development kit that provides Dynamixel control functions using packet communication.
Operating System	Linux	Windows / MacOS / Linux	Windows / MacOS / Linux
Languages	C++, Python, or any other ROS compatable languages	Any language which can communicate via serial over USB	C, C++, C#, Python, Java, MATLAB, LabVIEW and ROS.
Controller	DYNAMIXEL U2D2	OpenCM9.04c	DYNAMIXEL U2D2
Demos	Examples include: MoveIt! Rviz Gazebo Simulation Physical Robot Control Puppet Control Diagnostics & Data Recording PS3/PS4 Control	A Windows Demo is provided allowing for control of any standard X-Series Turret. Tools are provided for users to become familiar with the Interbotix Serial Protocol	Robotis provides sample code in many languages for users to get started

HIGH PERFORMANCE DYNAMIXEL SERVOS

ROS Packages & Support

ROS packages for Kinetic and Melodic on Ubuntu Linux 16.04 and 18.04 make it easy to get started with the WidowX XM430 Turret. Packages include full meshes and URDFs (including accurate inertial models for the links), driver node that controls the physical robot and publishes joint states as well as gazebo and moveit support. Examples are also included to show users how the core packages work.

Product Features:

XM430-W350-T Servos

Industrial Bearing Base

OpenCM9.04-C

DYNAMIXEL U2D2

2 DOF

Includes:

2x XM430-W350 Actuators

1x OpenCM9.04-C

1x DYNAMIXEL U2D2

1x 12v5a Power Supply

1x USB2 Micro Cable

WidowX XM430 Turret

Protocol	TTL
Payload	2250g
Resolution	4096
Weight	1350g

Industrial Grade Bearing

The WidowX XM430 Turret features an industrial quality, high grade slewing bearing base as the central mounting point. The bearing ensures maximum rigidity and accuracy and takes all strain of the base servo increasing the longevity of the turret.

DYNAMIXEL XM430-W350-T

Model Number	XM430-W350-T
Weight (g)	82g
Dimensions (mm)	28.5mm x 46.5mm x 34mm
Gear Ratio	353.5 : 1
Operation Voltage (V)	11.1 \| 12 \| 14.8
Stall Torque (N.m)	3.8 \| 4.1 \| 4.8
Stall Current (A)	2.1 \| 2.3 \| 2.6
No Load Speed (RPM)	43 \| 46 \| 57
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
Operating Range	Position Control Mode : 360° Velocity Control Mode : Endless turn
Input Voltage (V)	10~14.8V (Recommended voltage : 12V)
Operating Temperature (°C)	-5°C ~ 80°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, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
Material	Case : Metal (Front, Middle) Engineering Plastic (Back) Gear : Full Metal
Standby current	40 mA

Mounting Hardware

The base comes with mounting thumb screws to secure the turret easily to most any surface, wood screws are also an option for a more permanent mounting solution.