Robotis 2XL430-W250 User manual

2XL430-W250
1. Specifications
2XL430-W250 is a ground breaking DYNAMIXEL that allows to control 2 axis(2 DOF) with a single
module. In order to control 2 axis at the same time, each axle should be assigned with different ID
while sharing an identical Baudrate. Since the Control Table for each axle is separated except the
Baudrate, 2XL can be applied in various applications.
The usage is identical to other DYNAMIXEL’s, but be aware that Firmware Recovery will reset both
axis to factory settings.
Item Specifications
MCU ARM CORTEX-M3 (72 [MHz], 32Bit)
Position Sensor Contactless absolute encoder (12Bit, 360 [°])
Maker : ams(www.ams.com), Part No : AS5601
Motor Cored
Baud Rate 9,600 [bps] ~ 4.5 [Mbps]
Control Algorithm PID control
Resolution 4096 [pulse/rev]
Operating Modes
Velcoity Control Mode
Position Control Mode (0 ~ 360 [°])
Extended Position Control Mode (Multi-turn)
PWM Control Mode (Voltage Control Mode)
Weight 98.2 [g]
Dimensions (W x H x D) 36 x 46.5 x 36 [mm]
Gear Ratio 257.4 : 1
Stall Torque
1.0 [N.m] (at 9.0 [V], 1.0 [A])
1.4 [N.m] (at 11.1 [V], 1.3 [A])
1.5 [N.m] (at 12.0 [V], 1.4 [A])

Item Specifications
No Load Speed
47 [rev/min] (at 9.0 [V])
57 [rev/min] (at 11.1 [V])
61 [rev/min] (at 12.0 [V])
Operating Temperature -5 ~ +72 [°C]
Input Voltage 6.5 ~ 12.0 [V] (Recommended : 11.1 [V])
Command Signal Digital Packet
Protocol Type TTL Half Duplex Asynchronous Serial Communication
(8bit, 1stop, No Parity)
Physical Connection TTL Multidrop Bus
ID 253 ID (0 ~ 252)
Feedback Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Part Material Full Metal Gear
Engineering Plastic(Front, Middle, Back)
Standby Current 49 [mA]
DANGER
(May cause serious injury or death)
Never place items containing water, flammables, and solvents near product.
Never place fingers, arms, toes, and other body parts near product during operation.
Cut power off if product emits strange odors or smoke.
Keep product out of reach of children.
Check the power polarity before wiring.
CAUTION
(May cause injury or damage to product)
Do not operate the product at a temperature exceeding -5 ~ +72 [°C] range.
Do not insert sharp blades nor pins during product operation.
ATTENTION
(May cause injury or damage to product)
Do not disassemble or modify product.
Do not drop or apply strong shock to product.

1. 1. Performance Graph
NOTE : The Max Torque and the Stall Torque of Performance Graph are different in measurement
methods. Stall torque is a measured value of the momentary torque that it can reach. This is
generally how RC servos are measured. The Performance graph is also called as N-T curves,
which is measured with the gradually increasing load. The actual motor operation environment is
closer to the performance graph, not stall torque method. For this reason, the performance graph is
broadly used in the industrial field. Generally, Max Torque of the Performance Graph is less than
the Stall Torque.
CAUTION : When supplying power
It is recommended using ROBOTIS controller or SMPS2DYNAMIXEL.
Do not connect or disconnect DYNAMIXEL when power is being supplied.
2. Control Table
The Control Table is a structure of data implemented in the device. Users can read a specific
Data to get status of the device with Read Instruction Packets, and modify Data as well to
control the device with WRITE Instruction Packets.
2. 1. Control Table, Data, Address
The Control Table is a structure that consists of multiple Data fields to store status or to
control the device. Users can check current status of the device by reading a specific Data
from the Control Table with Read Instruction Packets. WRITE Instruction Packets enable
users to control the device by changing specific Data in the Control Table. The Address is a

unique value when accessing a specific Data in the Control Table with Instruction Packets. In
order to read or write data, users must designate a specific Address in the Instruction
Packet. Please refer to Protocol 2.0 for more details about Instruction Packets.
NOTE : Two’s complement is applied for the negative value. For more information, please refer to
Two’s complement from Wikipedia.
2. 1. 1. Area (EEPROM, RAM)
The Control Table is divided into 2 Areas. Data in the RAM Area is reset to initial values
when the power is reset(Volatile). On the other hand, data in the EEPROM Area is
maintained even when the device is powered off(Non-Volatile).
Data in the EEPROM Area can only be written to if Torque Enable(64) is cleared to ‘0’(Off).
2. 1. 2. Size
The Size of data varies from 1 ~ 4 bytes depend on their usage. Please check the size of
data when updating the data with an Instruction Packet. For data larger than 2 bytes will
be saved according to Little Endian.
2. 1. 3. Access
The Control Table has two different access properties. ‘RW’ property stands for read and
write access permission while ‘R’ stands for read only access permission. Data with the
read only property cannot be changed by the WRITE Instruction. Read only property(‘R’)
is generally used for measuring and monitoring purpose, and read write property(‘RW’) is
used for controlling device.
2. 1. 4. Initial Value
Each data in the Control Table is restored to initial values when the device is turned on.
Default values in the EEPROM area are initial values of the device (factory default
settings). If any values in the EEPROM area are modified by a user, modified values will
be restored as initial values when the device is turned on. Initial Values in the RAM area
are restored when the device is turned on.
2. 2. Control Table of EEPROM Area
Address Size
(Byte) Data Name Access Default Value Range Unit
0 2 Model Number R 1,090 - -
2 4 Model Information R - - -
6 1 Firmware Version R - - -
7 1 ID RW 1, 2 0 ~ 253 -

Address Size
(Byte) Data Name Access Default Value Range Unit
8 1 Baud Rate RW 1 0 ~ 7 -
9 1 Return Delay Time RW 250 0 ~ 254 2 [μsec]
10 1 Drive Mode RW 0 0 ~ 1 -
11 1 Operating Mode RW 3 0 ~ 16 -
12 1 Secondary(Shadow) ID RW 255 0 ~ 252 -
13 1 Protocol Type RW 2 1 ~ 2 -
20 4 Homing Offset RW 0 -1,044,479 ~
1,044,479 1 [pulse]
24 4 Moving Threshold RW 10 0 ~ 1,023 0.229 [rev/min]
31 1 Temperature Limit RW 72 0 ~ 100 1 [°C]
32 2 Max Voltage Limit RW 140 60 ~ 140 0.1 [V]
34 2 Min Voltage Limit RW 60 60 ~ 140 0.1 [V]
36 2 PWM Limit RW 885 0 ~ 885 0.113 [%]
44 4 Velocity Limit RW 250 0 ~ 1,023 0.229 [rev/min]
48 4 Max Position Limit RW 4,095 0 ~ 4,095 1 [pulse]
52 4 Min Position Limit RW 0 0 ~ 4,095 1 [pulse]
63 1 Shutdown RW 52 - -
2. 3. Control Table of RAM Area
Address Size
(Byte) Data Name Access Default Value Range Unit
64 1 Torque Enable RW 0 0 ~ 1 -
65 1 LED RW 0 0 ~ 1 -
68 1 Status Return Level RW 2 0 ~ 2 -
69 1 Registered Instruction R 0 0 ~ 1 -
70 1 Hardware Error Status R 0 - -
76 2 Velocity I Gain RW 1,800 0 ~ 16,383 -
78 2 Velocity P Gain RW 100 0 ~ 16,383 -
80 2 Position D Gain RW 2,000 0 ~ 16,383 -
82 2 Position I Gain RW 0 0 ~ 16,383 -
84 2 Position P Gain RW 640 0 ~ 16,383 -
88 2 Feedforward 2nd Gain RW 0 0 ~ 16,383 -

Address Size
(Byte) Data Name Access Default Value Range Unit
90 2 Feedforward 1st Gain RW 0 0 ~ 16,383 -
98 1 Bus Watchdog RW 0 1 ~ 127 20 [msec]
100 2 Goal PWM RW - -PWM Limit(36) ~
PWM Limit(36) -
104 4 Goal Velocity RW - -Velocity Limit(44) ~
Velocity Limit(44) 0.229 [rev/min]
108 4 Profile Acceleration RW 0 0 ~ 32,767
0 ~ 32,737
214.577 [rev/min2]
1 [ms]
112 4 Profile Velocity RW 0 0 ~ 32,767 0.229 [rev/min]
116 4 Goal Position RW - Min Position Limit(52) ~
Max Position Limit(48) 1 [pulse]
120 2 Realtime Tick R - 0 ~ 32,767 1 [msec]
122 1 Moving R 0 0 ~ 1 -
123 1 Moving Status R 0 - -
124 2 Present PWM R - - -
126 2 Present Load R - -1,000 ~ 1,000 0.1 [%]
128 4 Present Velocity R - - 0.229 [rev/min]
132 4 Present Position R - - 1 [pulse]
136 4 Velocity Trajectory R - - 0.229 [rev/min]
140 4 Position Trajectory R - - 1 [pulse]
144 2 Present Input Voltage R - - 0.1 [V]
146 1 Present Temperature R - - 1 [°C]
168 2 Indirect Address 1 RW 224 64 ~ 661 -
170 2 Indirect Address 2 RW 225 64 ~ 661 -
172 2 Indirect Address 3 RW 226 64 ~ 661 -
… … … … … - -
218 2 Indirect Address 26 RW 249 64 ~ 661 -
220 2 Indirect Address 27 RW 250 64 ~ 661 -
222 2 Indirect Address 28 RW 251 64 ~ 661 -
224 1 Indirect Data 1 RW 0 0 ~ 255 -
225 1 Indirect Data 2 RW 0 0 ~ 255 -
226 1 Indirect Data 3 RW 0 0 ~ 255 -

Address Size
(Byte) Data Name Access Default Value Range Unit
… … … … … - -
249 1 Indirect Data 26 RW 0 0 ~ 255 -
250 1 Indirect Data 27 RW 0 0 ~ 255 -
251 1 Indirect Data 28 RW 0 0 ~ 255 -
578 2 Indirect Address 29 RW 634 64 ~ 661 -
580 2 Indirect Address 30 RW 635 64 ~ 661 -
582 2 Indirect Address 31 RW 636 64 ~ 661 -
… … … … … - -
628 2 Indirect Address 54 RW 659 64 ~ 661 -
630 2 Indirect Address 55 RW 660 64 ~ 661 -
632 2 Indirect Address 56 RW 661 64 ~ 661 -
634 1 Indirect Data 29 RW 0 0 ~ 255 -
635 1 Indirect Data 30 RW 0 0 ~ 255 -
636 1 Indirect Data 31 RW 0 0 ~ 255 -
… … … … … - -
659 1 Indirect Data 54 RW 0 0 ~ 255 -
660 1 Indirect Data 55 RW 0 0 ~ 255 -
661 1 Indirect Data 56 RW 0 0 ~ 255 -
CAUTION : Protocol 1.0 does not support addresses greater than 256. Therefore, Indirect Address
29 ~ 56 and Indirect Data 29 ~ 56 can only be accessed with Protocol 2.0.
2. 4. Control Table Description
CAUTION : Data in the EEPROM Area can only be written when the value of Torque Enable(64) is
cleared to ‘0’.
CAUTION : Each motor on 2XL430 has its own control table. However the value of Baud Rate(8)
and Protocol Type(13), is always changed at the same time because there is only one
communication module in the actuator.
In addition, Torque Enable(64) must be set as “0” when changed.
2. 4. 1. Model Number(0)
This address stores model number of DYNAMIXEL.

2. 4. 2. Firmware Version(6)
This address stores firmware version of DYNAMIXEL.
2. 4. 3. ID(7)
The ID is a unique value in the network to identify each DYNAMIXEL with an Instruction
Packet. 0~252 (0xFC) values can be used as an ID, and 254(0xFE) is occupied as a
broadcast ID. The Broadcast ID(254, 0xFE) can send an Instruction Packet to all
connected DYNAMIXEL simultaneously.
NOTE : Please avoid using an identical ID for multiple DYNAMIXEL. You may face
communication failure or may not be able to detect DYNAMIXEL with an identical ID.
CAUTION : Please assign two different IDs for the 2XL430. Attempting to assign an identical ID
for each joint will result in Data Limit Error(0x06) of the status packet.
2. 4. 4. Baud Rate(8)
Baud Rate determines serial communication speed between a controller and
DYNAMIXEL.
Value Baud Rate Margin of Error
7 4.5M 0.000%
6 4M 0.000%
5 3M 0.000%
4 2M 0.000%
3 1M 0.000%
2 115,200 0.000%
1(Default) 57,600 0.000%
0 9,600 0.000%
NOTE : Less than 3% of the baud rate error margin will not affect to UART communication.
NOTE : For the stable communication with higher Baudrate, configure USB Latency value to the
lower.
USB Latency Setting
CAUTION : Only one Baud Rate can be used for the 2XL430. Attempting to change the Baud
Rate of one joint will also affect to the other joint.

2. 4. 5. Return Delay Time(9)
After the DYNAMIXEL receives an Instruction Packet, it delays transmitting the Status
Packet for Return Delay Time(9). For instance, if the Return Delay Time(9) is set to ‘10’,
the Status Packet will be returned after 20[μsec] when the Instruction Packet is received.
Unit Value Range Description
2[μsec] 0 ~ 254 Default value ‘250’(500[μsec]), Maximum 508[μsec]
2. 4. 6. Drive Mode(10)
This address configures Drive Mode of DYNAMIXEL.
Bit Item Description
Bit 7(0x80) - Unused, always ‘0’
Bit 6(0x40) - Unused, always ‘0’
Bit 5(0x20) - Unused, always ‘0’
Bit 4(0x10) - Unused, always ‘0’
Bit 3(0x08) - Unused, always ‘0’
Bit 2(0x04) Profile Configuration
[0] Velocity-based Profile: Create a Profile based on Velocity
[1] Time-based Profile: Create Profile based on time
※ Please refer to Profile Velocity(112)
Bit 1(0x02) - Unused, always ‘0’
Bit 0(0x01) Normal/Reverse Mode [0] Normal Mode: CCW(Positive), CW(Negative)
[1] Reverse Mode: CCW(Negative), CW(Positive)
NOTE : Time-based Profile is available from firmware V42.
NOTE : If the value of Bit 0(Normal/Reverse Mode) of the Drive Mode(10) is set to 1 ,
rotational direction is inverted.
Thus, Goal Position, Present Position will have a inverted direction.
This feature can be very useful when configuring symmetrical joint or wheel system.
2. 4. 7. Operating Mode(11)
Value Operating
Mode Description
1
Velocity
Control Mode
(0° ~ 360°)
This mode controls velocity and ideal for wheel operation.
This mode is identical to the Wheel Mode(endless) from existing
DYNAMIXEL.

Value Operating
Mode Description
3(Default) Position
Control Mode
This mode controls position and identical to the Joint Mode.
Operating position range is limited by Max Position Limit(48) and Min
Position Limit(52).
This mode is ideal for articulated robots that each joint rotates less than
360°.
4
Extended
Position
Control Mode
(Multi-turn)
This mode controls position and identical to Multi-turn Mode.
512 turns are supported(-256[rev] ~ 256[rev]) and ideal for multi-turn wrists
or conveyer systems or a system that requires an additional reduction gear.
16
PWM Control
Mode
(Voltage
Control Mode)
This mode directly controls PWM output (Voltage Control Mode)
NOTE : Switching Operating Mode will reset gains(PID, Feedfoward) properly to the selected
Operating Mode. The profile generator and limits will also be reset.
1. Profile Velocity(112), Profile Acceleration(108) : Reset to ‘0’
2. Goal PWM(100) : Reset to PWM Limit(36)
NOTE : PWM is the abbreviation for Pulse Width Modulation that modulates PWM Duty to
control motors.
It changes pulse width to control average supply voltage to the motor and this technique is
widely used in the motor control field.
1. PWM Control Mode is similar to the Wheel Mode of DYNAMIXEL AX and RX series.
2. Use Goal PWM(100) on PWM Control Mode in order to control supply voltage for
DYNAMIXEL.
NOTE : Present Position(132) represents 4 byte continuous range from -2,147,483,648 to
2,147,483,647 when Torque is turned off regardless of Operating Mode(11).
However, Present Position(132) will be reset to an absolute position value of one full rotation in
those cases:
1. When Operating Mode(11) is changed to Position Control Mode, Present Position(132) will
be reset to an absolute position value of a full rotation.
2. When torque is turned on in Position Control Mode, Present Position(132) will be reset to
an absolute position value of one full rotation.
3. When turning off the power supply on Extended Position Control Mode, Present
Position(132) will be reset to an absolute position value of one full rotation.
Present Position(132) value can be affected by Homing Offset(20) .
2. 4. 8. Secondary(Shadow) ID(12)